01 · Mechanical Range
90 mm stroke with 80 mm jaws
The published stroke and jaw length provide a clear starting point for evaluating the size range of objects in a planned manipulation task.
Unitree Dex1-1
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Overview
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Parallel Two-Finger Gripper for Embodied AI
Unitree Dex1-1 Parallel Two-Finger Gripper
Wide-range gripping. Tunable force. Precise control.
A single-motor parallel gripper designed by Unitree for embodied AI applications, with adjustable motion, high-speed communication, and detailed motor feedback.
- 90 mmGripper stroke
- 5–120 NAdjustable gripping force
- 50–375 mm/sAdjustable speed
- 0.1 mmFingertip position resolution
- 0.24 sShortest full-stroke closing time
- 550 gPublished gripper weight
Product Overview
Built to balance reach, force, speed, and control
Dex1-1 combines a 90 mm stroke and 80 mm jaw length with adjustable force and speed. This gives developers a broad published operating range for manipulation tasks involving objects of different sizes and handling requirements.
Unitree's official Dex1-1 service identifies the mechanism as a parallel two-finger gripper driven by one Unitree M4010 motor.
Its motor communicates over high-speed 485 at 6 Mbps and supports a 1000 Hz communication control frequency. An absolute encoder and multiple control and feedback variables support detailed system-level integration.
- Adjustable gripping force from 5 to 120 N
- Adjustable motion speed from 50 to 375 mm/s
- 15-bit absolute motor encoder
- Angle, velocity, torque, and temperature feedback
Engineering Highlights
What the published specifications mean for integration
Five key capability areas summarize the gripper's mechanical range, tunability, response, control inputs, and motor-state feedback.
02 · Force Tuning
5–120 N adjustable gripping force
The gripping-force setting can be adjusted within Unitree's published range. Actual results vary with voltage, control settings, object geometry, contact surface, and application.
03 · Motion Response
Adjustable speed up to 375 mm/s
Unitree publishes a 50–375 mm/s adjustable speed range and a shortest full-stroke closing time of 0.24 seconds under the stated test conditions.
04 · Motor Commands
Multiple control variables
Published motor control instructions include angle, angular velocity, torque, stiffness, and damping for system-level control.
05 · Motor Feedback
Detailed status feedback
The motor reports angle, angular velocity, torque, and temperature, while a 15-bit absolute encoder supplies position information.
Scroll horizontally to view all five highlights. Enhanced arrow controls appear when JavaScript is available.
Gripping Performance
Two load ratings, two different test orientations
Unitree publishes separate form-fitting and friction grasp-load figures. They describe different holding conditions and should not be treated as one universal payload specification.
Form-Fitting Grasp Load
20 kgHorizontal holding condition
Defined by Unitree as the maximum horizontal load the gripper can hold without losing its grip. Object geometry and the specific application affect the result.
Friction Grasp Load
5 kgVertical friction condition
Defined by Unitree as the maximum vertical load held without slipping, measured with a square steel block. Contact conditions and the application affect the result.
These are published test-condition ratings, not guaranteed payloads for every object, orientation, surface, motion profile, or installation.
Industry Applications
Application areas presented by Unitree
These categories indicate where Unitree presents Dex1-1 being considered. Final suitability depends on the complete robotic system and task requirements.
Scientific Research & Education
A component option for embodied AI, manipulation, motion-control, and robotics research or teaching systems.
Courier Sorting
A published application area involving object handling and sorting workflows with system-specific perception and planning.
Industrial Automation
A gripper option for evaluating automated handling tasks where motion, force, and integration requirements are defined at the system level.
New Retail
Included by Unitree as an application category for robotic handling and interaction concepts in retail-oriented environments.
Consumer Electronics
A listed category for manipulation concepts involving electronic products, subject to object-specific contact and handling validation.
Medicine
Presented by Unitree as an industry application area; this listing does not claim medical-device status, clinical use, or regulatory approval.
Compatibility & Integration
Standalone use or listed Unitree humanoid platforms
Unitree lists Dex1-1 for standalone use and for use with its G1, H2, and R1 humanoid robots. Confirm the complete mechanical, electrical, and control integration for the intended configuration before ordering.
Unitree G1
Unitree R1
Unitree H2
Version Comparison
Standard and camera-equipped configurations
Unitree presents two Dex1-1 configurations. Select the version according to the intended sensing and integration plan.
Standard
Dex1-1 Gripper — Standard Version
The base configuration listed by Unitree. The official Dex1-1 page does not publish camera specifications for this version.
Camera Equipped
Dex1-1 Gripper — Advanced Version with Camera
The camera-equipped configuration with the video and field-of-view specifications published by Unitree.
Video
1080p · 30/60 fps
Field of View
H: 118° · V: 87° · D: 140°
| Selection Point | Standard Version | Advanced Version with Camera |
|---|---|---|
| Published camera information | No camera specifications listed | 1080p at 30/60 fps |
| Published field of view | Not listed | H: 118° · V: 87° · D: 140° |
| Selection guidance | Confirm when a camera-equipped gripper is not required. | Confirm when the listed integrated camera is required. |
Product Parameters
Unitree Dex1-1 specifications
The values and conditions below follow Unitree's published Dex1-1 product parameters.
Gripper Parameters
| Model | Dex1-1 |
|---|---|
| Dimensions | 143 × 78 × 67 mm [1] |
| Weight | 550 g |
| Stroke | 90 mm |
| Gripping Force (Adjustable) | 5–120 N [2] |
| Speed (Adjustable) | 50–375 mm/s [2] |
| Position Resolution (Fingertip) | 0.1 mm |
| Grasp Load (Form-Fitting) | 20 kg [3] |
| Grasp Load (Friction) | 5 kg [4] |
| Full-Stroke Shortest Closing Time | 0.24 s [2] |
| Jaw Length | 80 mm |
Motor Parameters
| Communication Protocol | High-Speed 485 |
|---|---|
| Communication Baud Rate | 6 Mbps |
| Communication Control Frequency | 1000 Hz |
| Operating Voltage | 24–64 V (24/48 VDC recommended) |
| Static Current | 0.03 A |
| Peak Line Current | 3.5 A |
| Motor Peak Torque | 5 N·m |
| Motor Maximum Speed | 27 rad/s (with 64 V power supply) |
| Recommended Operating Environment | −20°C to 60°C |
| Motor Reduction Ratio | 1:25 |
| Motor Encoder Resolution | 15-bit |
| Motor Encoder Type | Absolute encoder |
| Motor Status Feedback | Angle, angular velocity, torque, temperature |
| Motor Control Instructions | Angle, angular velocity, torque, stiffness, damping |
[1] The gripper width is 78 mm when half-open. Its width is 120 mm when fully open and 124.5 mm when fully closed with the side rails extended.
[2] Speed, gripping force, and full-stroke closing time were measured under varying conditions from 24–60 V by adjusting motor stiffness, damping, and torque. Values vary by application.
[3] Form-fitting grasp load is the maximum horizontal load held without losing grip. The value varies by application.
[4] Friction grasp load is the maximum vertical load held without slipping, measured with a square steel block. The value varies by application.
[5] Parameters may vary across application scenarios and model configurations. Refer to the actual application.
[6] Product appearance is subject to change. Refer to the final product.
[7] This product is a civilian robot. Users should not make dangerous modifications or use the robot in a hazardous manner.
[8] Refer to Unitree Robotics for related terms and policies, and comply with applicable local laws and regulations.
Developer Resources
Official integration references
Unitree publishes a Dex1-1 serial-to-DDS service, control examples, calibration instructions, and robot-description assets for developers.
View Dex1-1 developer resources and service details
The official service converts the gripper's serial motor connection to DDS command and state topics and depends on Unitree SDK2. Unitree's current setup instructions target Ubuntu on an NVIDIA Jetson Orin NX development computer. Confirm the computing platform, serial board, network interface, dependencies, and software version before deployment.
Published Resources
- Official open-source serial-to-DDS service
- C++ test client for left- and right-gripper control
- DDS command and state topic definitions
- Documented motor-calibration procedure
- Dex1-1 URDF and mesh assets
- Unitree SDK2 dependency and build instructions
Current Official Service Mapping
| Side | Motor ID | Command Topic | State Topic |
|---|---|---|---|
| Right | 0 | rt/dex1/right/cmd |
rt/dex1/right/state |
| Left | 1 | rt/dex1/left/cmd |
rt/dex1/left/state |
The current service documentation includes gripper calibration
using sudo ./dex1_1_gripper_server -c after manually
closing the gripper as instructed.
Repository interfaces and instructions can change. Review the current official documentation before integration. The general availability of Unitree SDK2 or its Python interface does not by itself confirm a Dex1-1-specific Python workflow for every configuration.
Frequently Asked Questions
Dex1-1 product and integration details
What is the Unitree Dex1-1 designed for?
Unitree describes Dex1-1 as designed specifically for embodied AI applications and presents it across research, sorting, automation, new retail, consumer electronics, and medicine-related categories.
What are the adjustable gripping-force and speed ranges?
Unitree publishes 5–120 N adjustable gripping force and 50–375 mm/s adjustable speed. These values are subject to the test conditions in footnote [2].
What do the 20 kg and 5 kg grasp-load ratings mean?
The 20 kg form-fitting figure refers to a maximum horizontal load held without losing grip. The 5 kg friction figure refers to a maximum vertical load held without slipping, measured with a square steel block. Both vary by application.
What is the difference between the two listed versions?
Unitree lists a Standard Version and an Advanced Version with Camera. For the Advanced Version, Unitree publishes 1080p video at 30/60 fps and a field of view of H: 118°, V: 87°, and D: 140°.
Which Unitree humanoid robots are listed for use with Dex1-1?
Unitree lists standalone use plus use with its G1, H2, and R1 humanoid robots. Confirm configuration-specific integration before ordering.
What power and communication specifications are published?
The published operating range is 24–64 V, with 24/48 VDC recommended. Communication is high-speed 485 at 6 Mbps with a 1000 Hz communication control frequency.
What motor commands and feedback are available?
Published control instructions include angle, angular velocity, torque, stiffness, and damping. Status feedback includes angle, angular velocity, torque, and temperature.
What operating environment does Unitree recommend?
Unitree publishes a recommended operating-environment range of −20°C to 60°C. Suitability of the complete robotic system must still be evaluated for the intended environment.
Is Dex1-1 plug-and-play, and what comes in the package?
The official product page does not specify plug-and-play integration or package contents. Contact SpeedyDrone to confirm the selected version and the mechanical, electrical, and control requirements for the intended project.
SpeedyDrone Canada
Confirm the right Dex1-1 configuration for your project
Contact SpeedyDrone to discuss Canadian availability, version selection, and compatibility confirmation for your intended Unitree platform or standalone integration.
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30-Day Return Window
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