AgiBot D1 Ultra-W Wheel-Legged Quadruped Robot

The D1 Ultra-W is the wheeled member of the D1 Ultra family. Each leg ends in a 6-inch solid tire, so the robot rolls on flat ground and walks when the ground stops cooperating. AgiBot rates it for a 5 kg (11 lb) payload at 22 kg (48.5 lb) with battery, and the manufacturer manual lists a laboratory operating range of 9 ±1 km (5.6 ±0.6 mi).

The reason to buy it is the SDK. AgiBot ships open motion-control SDK and communication protocols on this unit, with Ethernet, USB, SBUS and UART expansion on the chassis. Target tracking and screen-based remote control are supported out of the box. That combination suits a research group or an integrator who wants a mobile base they can actually write code against, at a price well below the industrial D1 machines.

Key Highlights

• 5 kg (11 lb) rated payload on a 22 kg (48.5 lb) chassis with battery.
• 3.7 m/s (8.3 mph) maximum speed, with 6-inch solid tires for wheeled travel and articulated legs for terrain.
• Open motion-control SDK and communication protocols for secondary development.
• Expansion interfaces: Ethernet x 1, USB x 2, power x 2, SBUS x 1, UART x 1.
• 35 cm (13.8 in) vertical jump and 16 cm (6.3 in) continuous stair height.
• 30 degree standard slope, up to 40 degrees in extreme conditions, and a 60 cm (23.6 in) maximum climbing height.
• IP54 protection with a 0 to 40 C (32 to 104 F) operating range.
• 9 ±1 km (5.6 ±0.6 mi) operating range on a 4.6 Ah / 43.2 V battery, recharging in about 1 hour from 10 to 90 percent.
• Target tracking and screen-based remote control supported.
• Aluminum alloy and high-strength engineering plastic construction.

AgiBot D1 Ultra-W Specs

Read this before you spec it. These figures follow the Chinese section of the 24 June 2026 manufacturer manual. Performance figures are laboratory results, not guarantees. The Chinese text lists 16 degrees of freedom while the unmodified English manual lists 12, so confirm the supplied hardware revision before ordering. Laboratory-mode actions and modifications are subject to the manual's safety and warranty limitations.

Built For

• University labs and research groups that need an open, programmable legged platform
• Integrators prototyping a sensor or comms payload on a mobile base
• Mixed indoor and outdoor routes where wheels cover distance and legs handle the obstacles
• Light security and observation work using target tracking and remote screen control
• Robotics education programs that need a real machine rather than a simulator

Good to Know

• Rated payload is 5 kg (11 lb). This is a research and light-duty platform, not an industrial load carrier.
• IP54 and a 0 to 40 C (32 to 104 F) operating range mean this is not a winter or wash-down machine. The IP67 D1 Max is the outdoor answer.
• AgiBot warrants the main unit for 12 months, the screen controller, charger and FPV camera for 6 months, and the battery for 6 months or 200 cycles, whichever comes first.
• AgiBot offers radio accessories on D1 platforms. We do not quote radio add-ons until they carry their own US equipment authorization. Ask us and we will tell you exactly where that stands before you design a comms plan around one.
• Spare batteries, chargers and payloads are quoted separately.

How Purchasing Works

Send us the quantity and delivery location and we return a formal written quote, typically the same or next business day. Typically ships in 2 to 5 business days from US stock once your quote is accepted. We accept tax-exempt purchasing with a valid certificate on file. Payment is by ACH or wire on quote acceptance.

Frequently Asked Questions

How much does the AgiBot D1 Ultra-W cost?
The D1 Ultra-W is $9,899 before accessories and payloads. Multi-unit pricing is available.

What is the difference between the D1 Ultra-W and the D1 Ultra?
The W is the wheel-legged version. It runs 6-inch solid tires at the end of each leg, weighs 22 kg (48.5 lb) with battery, and the manual lists a 9 ±1 km (5.6 ±0.6 mi) operating range. The standard D1 Ultra is a footed quadruped at 16 kg (35 lb) with a 6 ±1 km range. Both are rated for a 5 kg (11 lb) payload at 3.7 m/s (8.3 mph).

Can I program it?
Yes. AgiBot supplies an open motion-control SDK and communication protocols for secondary development, with Ethernet, USB, SBUS and UART expansion on the chassis.

How long does it run per charge?
1 to 2 hours on a 4.6 Ah / 43.2 V battery, with a laboratory operating range of 9 ±1 km (5.6 ±0.6 mi). Charging takes about 1 hour from 10 to 90 percent.

Can it climb stairs?
Continuous stair height is 16 cm (6.3 in), with a 30 degree standard slope limit and a 60 cm (23.6 in) maximum climbing height.

How many degrees of freedom does it have?
The Chinese section of the manufacturer manual lists 16 and the unmodified English manual lists 12. We confirm the hardware revision with the supplier before any order ships rather than guessing.

Warranty & U.S. Support

Every AgiBot unit we sell is sourced through AgiBot's authorized US distribution and carries US-based warranty and repair coverage. AgiBot's stated terms on this model are 12 months on the main unit, 6 months on the screen controller, charger and FPV camera, and 6 months or 200 cycles on the battery. Global Drone HQ provides pre-sale configuration help and post-sale support directly, and we handle warranty coordination on your behalf.

Explore the AgiBot Lineup

Browse the full AgiBot robot collection, or compare with the D1 Ultra, the D1 Max for heavy industrial payloads, and the X2 humanoid.