Unitree Dex1-1

Overview

The Dex1-1 is Unitree's two-finger parallel gripper for embodied-AI work on its own humanoid platforms. One Unitree M4010 brushless joint motor through a 1:25 reduction drives a 90 mm stroke with a 0.1 mm fingertip position resolution; gripping force and closing speed are both software-adjustable (5-120 N, 50-375 mm/s), and the shortest full-stroke close is 0.24 s. Unitree rates it at 20 kg form-fitting load and 5 kg friction load, and the 80 mm jaws are exposed rather than covered so fingers can be swapped for the task. Control is motor-level rather than fieldbus-level. The gripper speaks Unitree's own high-speed 485 protocol at a 6 Mbps baud rate and a 1000 Hz control frequency, exchanging angle, angular velocity, torque, stiffness and damping commands against angle, angular velocity, torque and temperature feedback. This is Unitree framing on the RS-485 physical layer, not Modbus RTU, so it does not drop onto a generic RS-485 gripper driver: host integration goes through unitree_sdk2 and the open-source dex1_1_service, which bridges the serial link to DDS topics (rt/dex1/left|right/cmd and .../state, MotorCmds_). Every box ships a 485-to-USB conversion board, so the gripper also runs standalone from a PC or a Jetson Orin NX. Mechanically it is a Unitree-platform part, not an industrial tool. Unitree publishes no ISO 9409-1 designation or bolt pattern for it; the stated compatibility is standalone use plus the G1 (EDU+/U2 and above), H1/H1-2, H2 and R1 arms. Three packages are sold - Standard, Advanced (adds an RGB camera and its mount) and Ultimate (adds an Intel RealSense D405 depth camera) - which resellers relabel V1/V2/V3; the gripper itself is identical across all three.