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Description
Unitree Robotics — H2-D Series
Unitree H2-D Standard E
Wheeled Dual-Arm Humanoid Robot with Dex5-1P Tactile Five-Finger Dexterous Hands & Dual Intel Core i5/i7 Compute. 51 DOF, 16-DOF 5-finger anthropomorphic hands with 94 pressure sensors per hand, 10g–2500g sensing range, ±1 mm repeatability, 1000 Hz control, 0.5 m vertical lift, 0.62 m reach, 7 kg payload, binocular vision & full-stack open SDK.
H2-D Standard E — wheeled dual-arm humanoid with Dex5-1P tactile five-finger dexterous hands, 2-DOF column with 0.5 m vertical travel, 94 pressure sensors per hand
51
Total DOF
7+7
Arm DOF
0.5
m Vertical Travel
16
Hand DOF
94
Tactile Sensors
What's in This Configuration
The H2-D Standard E upgrades to Dex5-1P tactile five-finger dexterous hands — delivering 16-DOF anthropomorphic manipulation with 94 pressure sensors per hand for unprecedented haptic feedback on the wheeled H2-D base. It combines a 2-DOF motorized column (0.5 m vertical travel + 90° base rotation) with dual 7-DOF arms, a 1-DOF waist (0°–115° pitch), and a 2-DOF head to deliver a 51-DOF manipulation system. Each Dex5-1P hand features 16 active DOF (thumb 4-DOF, each other finger 3-DOF) with 12 micro force-controlled compound joints and 4 micro force-controlled gear joints, achieving ±1 mm repeatability and 10 N fingertip force at 1000 Hz control frequency. The integrated 12 single-body array sensors per hand — distributed across palm (2×5), finger pads (2×3×5), fingertips (2×3×5), and finger bases (2×3×4) — provide a sensing range of 10 g to 2500 g with a maximum non-destructive force of 20 kg. At 135 kg with external power for 24/7 operation, H2-D Standard E is the ultimate platform for tactile-aware anthropomorphic dexterous manipulation research.
✓ H2-D Wheeled Dual-Arm Humanoid
Dual 7-DOF arms, 1-DOF waist (0°–115° pitch), 2-DOF head, 2-DOF motorized column (0.5 m vertical travel + 90° rotation). 1200×576×620 mm (min) to 1700×576×620 mm (max). ~135 kg. Fixed base with in-place Z-axis rotation.
✓ Dex5-1P Tactile Five-Finger Dexterous Hands
16 active DOF per hand (Thumb 4-DOF, each other finger 3-DOF). 12 micro force-controlled compound joints + 4 micro force-controlled gear joints per hand. 94 pressure sensors per hand (12 array sensors: palm 2×5, finger pads 2×3×5, fingertips 2×3×5, finger bases 2×3×4). Sensing range 10 g–2500 g, max non-destructive force 20 kg. Anthropomorphic five-finger grasping with ±1 mm repeatability. 10 N fingertip force. 1000 Hz communication rate. 24–60V operating voltage. USB2.0 interface. Wrist RGB camera included. FOV D:130°/H:120°/V:81°, 1920×1080.
✓ Dual Intel Compute
PC1: Intel Core i5 for platform functionality. PC2: Intel Core i7 for user development. Optional PC3 (Jetson Thor) and PC4 (i7/Orin NX) slots for future AI upgrades.
✓ Binocular Vision Head
Wide-angle humanoid-style dual-camera system. 8-core CPU + 10 TOPS NPU on-board head compute for real-time visual perception.
✓ 2-DOF Motorized Column
0.5 m vertical travel at ~200 mm/s max speed. 90° left/right rotation relative to base. Expands workspace from floor level to 2 m height for flexible pick-and-place across full vertical range.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, audio, vision, lighting. Dual encoders per joint. Smart OTA updates.
Dual 7-DOF Arms. Industrial-Grade Kinematics. Human-Like Dexterity.
The H2-D Standard E is engineered around two 7-DOF high-performance arms, each driven by low-inertia inner-rotor PMSM motors with crossed-roller and double-row ball bearings. With ~0.62 m reach per arm and a ~7 kg rated payload per arm (up to ~15 kg peak), it handles precise assembly, heavy pick-and-place, and industrial manipulation research with human-like fluidity. The extra two degrees of freedom per arm provide kinematic redundancy — the arm can maintain end-effector pose while reconfiguring its elbow to avoid obstacles, reach around corners, or optimize for natural motion. Dual encoders on every joint deliver closed-loop precision.
Building on the biomimetic design philosophy of the H2 series, Unitree H2-D features a 20-DOF humanoid architecture, multimodal perception, and an open development framework. Combining industrial-grade reliability, research-oriented openness, and adaptability for commercial deployment, H2-D is a high-performance humanoid platform designed for industrial manipulation, commercial services, robotics research, and embodied AI training.
2-DOF Motorized Column — Expand Your Workspace Vertically
The 2-DOF motorized column provides 0.5 m of vertical travel at speeds up to ~200 mm/s, plus 90° left/right rotation relative to the base. This transforms the robot from a compact 1200 mm unit to a 1700 mm tall workstation — enabling floor-level picking, mid-height assembly, and overhead shelf access without moving the base. Combined with the 1-DOF waist (0°–115° pitch) and 7-DOF arms, H2-D achieves a full spherical workspace spanning from ground to 2 m height — ideal for warehouse logistics, assembly lines, and service robotics.
Dex5-1P Tactile Five-Finger Hands — See, Feel & Grasp With Precision
The Dex5-1P is a 16-DOF five-finger dexterous hand engineered for tactile-aware anthropomorphic precision manipulation. Building on the Dex5-1 platform, it adds an extensive tactile sensor array with 12 single-body array sensors per hand, totaling 94 pressure sensors. The array configuration includes 2×5 sensors on the palm, 2×3 sensors on each finger pad (×5 fingers), 2×3 sensors on each fingertip (×5 fingers), and 2×3 sensors on each finger base (×4 fingers). This comprehensive tactile feedback enables unprecedented sensitivity for delicate object handling, texture recognition, and force-sensitive tasks.
The tactile sensors feature a sensing range of 10 g to 2500 g with a maximum non-destructive force of 20 kg, delivering rich haptic feedback for everything from picking up a single grape to gripping heavy tools. With 4-DOF on the thumb and 3-DOF on each of the other four fingers, the hand achieves human-like finger articulation for power grasps, precision pinches, and in-hand manipulation. ±1 mm repeatability and 10 N fingertip force deliver industrial-grade precision, while the 1000 Hz communication rate ensures responsive real-time control. The wide joint range — thumb J0: -33.5°~39°, J1: 0°~100°, J2: 0°~110°, J3: 0°~92°; fingers J0: -22°~22°, J1: 0°~90°, J2: 0°~95°, J3: 0°~81° (coupled) — enables natural, fluid grasping motions. Operating at 24–60V over USB2.0 with a -20°C ~ 60°C temperature range, the Dex5-1P supports up to 3.5 kg palm-down load and 4.5 kg palm-left load. Each hand includes a wrist RGB camera for close-up visual feedback and grasp verification.
Rich perception feedback includes joint mode, joint position, joint velocity, joint torque, joint temperature, voltage/current, sensor pressure value, sensor temperature value, and IMU data — giving researchers complete observability for reinforcement learning, teleoperation, and embodied AI research.
94
Pressure Sensors
16
Hand DOF
10g–2500g
Sensing Range
1000
Hz Control
1-DOF Waist — Flexible Body Pitch
The 1-DOF waist joint provides 0°–115° pitch, enabling the robot to bend forward for floor-level picking, lean back for overhead access, and orient toward workstations or humans. Combined with the 2-DOF column and 7-DOF arms, H2-D achieves a remarkably flexible posture envelope that covers the full vertical workspace from ground to 2 m.
Dual Intel Compute — Power for Control & Development
The H2-D Standard E ships with a built-in dual-compute architecture: PC1 runs an Intel Core i5 for real-time platform functionality and motion control, while PC2 provides an Intel Core i7 dedicated to user development. This separation ensures deterministic robot behavior while giving researchers full freedom to experiment. Optional expansion slots (PC3 for NVIDIA Jetson Thor, PC4 for Intel i7 or Jetson Orin NX) future-proof the platform as your AI ambitions grow.
Binocular Vision & AI Perception
A wide-angle humanoid-style binocular camera head delivers a broad field of view for spatial awareness. Paired with an 8-core high-performance CPU + 10 TOPS NPU in the head module, plus the dual Intel compute in the body, it runs visual perception, object detection, and gesture recognition locally — no cloud required. The Dex5-1P wrist cameras add close-up visual feedback for precision grasping and finger tracking, complementing the 94 pressure sensors for visuo-tactile fusion and multimodal perception research.
Voice Collaboration & Natural Interaction
Array beamforming microphones and high-power speakers enable clear voice capture and synthesis in noisy industrial floors or warehouses. The open audio framework supports custom wake words, multilingual TTS, and integration with LLMs for conversational command-and-control.
Industrial-Grade. 24/7 Ready.
At 1200–1700 × 576 × 620 mm (height adjustable) and approximately 135 kg, the H2-D Standard E is a substantial industrial workstation. The fixed base supports in-place Z-axis rotation for flexible positioning. Power via the included external power supply for 7×24 continuous operation — the base contains two quick-swap batteries for energy storage and back-EMF absorption, but actual operation requires direct charging.
Biomimetic Design & Full-Body Mobility: a 2-DOF waist and whole-body coordinated motion extend the operating workspace from floor level to a height of 2 m, enabling flexible manipulation across the entire workspace.
Full-Stack Open Development
Unitree provides a mature, Linux-based robot development framework with open APIs for the underlying system, robotic arms, audio, lighting, and visual control. ROS 2 native support, dual encoders on every arm joint, and hollow internal wiring make the H2-D Standard E a clean slate for reinforcement learning, teleoperation research, and embodied AI. The dual Intel compute handles model training and inference without external hardware. The Dex5-1P's rich tactile feedback stream — 94 pressure values, sensor temperatures, and IMU data per hand — provides the dense sensory input needed for cutting-edge tactile-aware AI research.
Upgrade Path — Grow With Your Research
Standard A is the entry point with parallel grippers. Standard B adds three-finger dexterous grasping. Standard C enriches it with tactile sensing. Standard D upgrades to five-finger 16-DOF anthropomorphic manipulation. Standard E adds 94 pressure sensors per hand for full tactile awareness. Every configuration shares the same H2-D wheeled base — the difference is the end effector. Upgrade your capabilities as your research evolves:
- End Effectors — Already at Dex5-1P tactile five-finger 16-DOF with 94 pressure sensors per hand. The pinnacle of H2-D dexterous manipulation. Swap to BrainCo Revo 2/3 series, Inspire Robots RH56DFQ/E2, or WUJI Hand 2 for specialized research.
- Wrist Cameras — Already included with Dex5-1P. All upgrade hands include wrist RGB cameras for close-up visual feedback and grasp verification.
- Compute Module — Add NVIDIA Jetson Thor (PC3) or Intel Core i7 / Jetson Orin NX (PC4) to unlock massive AI performance for embodied intelligence research.
- Power — External PSU included as standard for 7×24 operation. Base batteries are for energy storage and back-EMF absorption only.
Designed For
Tactile-Aware Anthropomorphic Manipulation
16-DOF five-finger hands with 94 pressure sensors per hand enable power grasps, precision pinches, in-hand manipulation, and dexterous tool use with full haptic feedback.
Embodied AI & Reinforcement Learning
Dense tactile input (94 pressure values + IMU per hand) provides the rich sensory feedback needed for RL-based grasping, texture recognition, and force-sensitive task learning.
Warehouse Logistics
0.5 m vertical lift and 0.62 m reach enable shelf-to-shelf picking, packing, and inventory management with tactile-aware five-finger anthropomorphic grasping.
Bimanual Robotics & HRI Research
Dual-arm coordination with tactile feedback, hand-over tasks, and collaborative manipulation with 16-DOF five-finger dexterous hands on both arms.
Technical Specifications
| Model | Unitree H2-D Standard E (Wheeled Base) |
| Dimensions (Min Height) | 1200 × 576 × 620 mm (H × W × D) |
| Dimensions (Max Height) | 1700 × 576 × 620 mm (H × W × D) |
| Weight (with Battery) | ~135 kg |
| Total DOF (without hands) | 19 (Arm 7×2, Waist 1, Head 2, Column 2) |
| Total DOF (with hands) | 51 (Arm 7×2, Waist 1, Head 2, Column 2, Hand 16×2) |
| Arm Reach | ~0.62 m |
| Max Arm Payload | Peak: ~15 kg; Rated: ~7 kg (posture-dependent) |
| Vertical Travel | 0.5 m |
| Vertical Movement Speed | Max ~200 mm/s |
| Waist Joint | 1-DOF — Pitch: 0°–115° |
| Column Joint | 2-DOF — Vertical travel + 90° left/right rotation |
| Head Joint | 2-DOF |
| Base Type | Fixed base with in-place Z-axis rotation |
| End Effectors | Dex5-1P Tactile Five-Finger Dexterous Hands (both arms, pre-installed) with wrist RGB camera |
| Hand DOF | 16 per hand (Thumb 4, Other fingers 3 each) |
| Hand Dimensions | ~217.3 × 127.5 × 72.1 mm |
| Hand Weight | ~1.0 kg per hand |
| Operating Voltage | 24–60V |
| Static Current | 58V @ 0.2A (static), Max 58V @ 3A |
| Communication | USB2.0 |
| Tactile Sensors | 94 pressure sensors per hand (12 array sensors: palm 2×5, finger pads 2×3×5, fingertips 2×3×5, finger bases 2×3×4) |
| Sensing Range | 10 g – 2500 g |
| Max Non-Destructive Force | 20 kg |
| Finger Configuration | Thumb: J0 -33.5°~39°, J1 0°~100°, J2 0°~110°, J3 0°~92°; Fingers: J0 -22°~22°, J1 0°~90°, J2 0°~95°, J3 0°~81° (coupled) |
| Wrist Camera | ±22° side swing; ±1 mm repeatability; 10 mm min grip diameter |
| Grasp Types | Palm down: 3.5 kg max; Palm left: 4.5 kg max |
| Perception Feedback | Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage/Current, Sensor Pressure Value, Sensor Temperature Value, IMU Data |
| Vision | Binocular camera — wide-angle humanoid-style dual-camera system |
| Wrist Cameras | Included — RGB 1920×1080, FOV D:130°/H:120°/V:81° |
| Head Compute | 8-core high-performance CPU + 10 TOPS NPU |
| Body Compute (PC1) | Intel Core i5 (platform functionality) |
| Body Compute (PC2) | Intel Core i7 (user development) |
| Optional Compute (PC3) | NVIDIA Jetson Thor (empty slot, add-on) |
| Optional Compute (PC4) | Intel Core i7 or NVIDIA Jetson Orin NX (empty slot, add-on) |
| Audio | Array microphone + high-power speaker |
| Connectivity | Wi-Fi 6, Bluetooth 5.2, OTA updates |
| Power | External power supply (7×24 direct charging). Base contains 2 quick-swap batteries for energy storage and back-EMF absorption only. |
| Battery Life | 7×24 hours (direct charging) |
| Cabling | Hollow + internal wiring |
| Joint Encoders | Dual + single encoders per joint |
| Cooling | Localized air cooling |
| SDK & Interfaces | Linux-based framework, ROS 2, open APIs for arm/audio/vision/lighting |
| Controllers | Handheld remote control included |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree H2-D Standard E Humanoid Robot (wheeled base)
- Dex5-1P Tactile Five-Finger Dexterous Hands with wrist RGB cameras (pre-installed, both arms)
- Intel Core i5 platform compute module (PC1, pre-installed)
- Intel Core i7 development compute module (PC2, pre-installed)
- External power supply & AC cable
- Binocular vision head module (pre-installed)
- Array microphone + high-power speaker module (pre-installed)
- Handheld remote controller
- Quick-start guide & safety manual
- Secondary development documentation access
H2-D Configuration Guide
Standard A is the entry point. Every configuration shares the same H2-D wheeled base — the difference is the end effector. Choose the one that matches your research goals:
| Config | Hand | DOF (Total) | Features |
|---|---|---|---|
| Standard A | Dex1-1 Advanced (RGB) | 21 | Entry-level parallel grippers with wrist camera, 7-DOF arms, 2-DOF column, stereo vision |
| Standard B | Dex3-1 (RGB) | 33 | 3-finger dexterous hand with wrist RGB camera |
| Standard C | Dex3-1 Tactile (RGB) | 33 | 3-finger hand with 33 tactile sensors + wrist RGB camera |
| Standard D | Dex5-1 (RGB) | 51 | 5-finger 16-DOF hand with wrist RGB camera |
| Standard E | Dex5-1P Tactile (RGB) | 51 | 5-finger 16-DOF hand with 94 pressure sensors + wrist RGB camera |
| Standard F | Revo 2 Basic (RGB) | 31 | 5-finger 6-DOF BrainCo hand with wrist RGB camera |
| Standard G | Revo 2 Touch (RGB) | 31 | 5-finger hand with pressure/friction/direction/proximity sensing + wrist RGB camera |
| Standard H | RH56DFQ (RGB) | 31 | Inspire Robots 5-finger 6-DOF hand with wrist RGB camera |
| Standard I | RH56E2-T1 Tactile (RGB) | 31 | Inspire Robots 5-finger hand with 17 tactile sensors + wrist RGB camera |
| Standard J | Revo 3 U21 (RGB) | 61 | BrainCo 21-DOF hand with wrist RGB camera |
| Standard K | Revo 3 U21T Tactile (RGB) | 61 | BrainCo 21-DOF hand with full-palm tactile + wrist RGB camera |
| Standard L | Revo 3 U21VT Visuo-Tactile (RGB) | 61 | BrainCo 21-DOF hand with visuo-tactile sensing + wrist RGB camera |
| Standard M | WUJI Hand 2 Tactile (RGB) | 59 | WUJI 20-DOF hand with tactile + wrist RGB camera, 1000 Hz control |
* Specifications are based on manufacturer data and may vary slightly by production batch. Optional compute modules and alternative end effectors sold separately.
Unitree® is a registered trademark of Unitree Robotics. Images are for reference; actual product appearance may differ.
Users must maintain a sufficient safety distance. This is a civilian robot — comply with local laws and regulations.
Description
Unitree Robotics — H2-D Series
Unitree H2-D Standard E
Wheeled Dual-Arm Humanoid Robot with Dex5-1P Tactile Five-Finger Dexterous Hands & Dual Intel Core i5/i7 Compute. 51 DOF, 16-DOF 5-finger anthropomorphic hands with 94 pressure sensors per hand, 10g–2500g sensing range, ±1 mm repeatability, 1000 Hz control, 0.5 m vertical lift, 0.62 m reach, 7 kg payload, binocular vision & full-stack open SDK.
H2-D Standard E — wheeled dual-arm humanoid with Dex5-1P tactile five-finger dexterous hands, 2-DOF column with 0.5 m vertical travel, 94 pressure sensors per hand
51
Total DOF
7+7
Arm DOF
0.5
m Vertical Travel
16
Hand DOF
94
Tactile Sensors
What's in This Configuration
The H2-D Standard E upgrades to Dex5-1P tactile five-finger dexterous hands — delivering 16-DOF anthropomorphic manipulation with 94 pressure sensors per hand for unprecedented haptic feedback on the wheeled H2-D base. It combines a 2-DOF motorized column (0.5 m vertical travel + 90° base rotation) with dual 7-DOF arms, a 1-DOF waist (0°–115° pitch), and a 2-DOF head to deliver a 51-DOF manipulation system. Each Dex5-1P hand features 16 active DOF (thumb 4-DOF, each other finger 3-DOF) with 12 micro force-controlled compound joints and 4 micro force-controlled gear joints, achieving ±1 mm repeatability and 10 N fingertip force at 1000 Hz control frequency. The integrated 12 single-body array sensors per hand — distributed across palm (2×5), finger pads (2×3×5), fingertips (2×3×5), and finger bases (2×3×4) — provide a sensing range of 10 g to 2500 g with a maximum non-destructive force of 20 kg. At 135 kg with external power for 24/7 operation, H2-D Standard E is the ultimate platform for tactile-aware anthropomorphic dexterous manipulation research.
✓ H2-D Wheeled Dual-Arm Humanoid
Dual 7-DOF arms, 1-DOF waist (0°–115° pitch), 2-DOF head, 2-DOF motorized column (0.5 m vertical travel + 90° rotation). 1200×576×620 mm (min) to 1700×576×620 mm (max). ~135 kg. Fixed base with in-place Z-axis rotation.
✓ Dex5-1P Tactile Five-Finger Dexterous Hands
16 active DOF per hand (Thumb 4-DOF, each other finger 3-DOF). 12 micro force-controlled compound joints + 4 micro force-controlled gear joints per hand. 94 pressure sensors per hand (12 array sensors: palm 2×5, finger pads 2×3×5, fingertips 2×3×5, finger bases 2×3×4). Sensing range 10 g–2500 g, max non-destructive force 20 kg. Anthropomorphic five-finger grasping with ±1 mm repeatability. 10 N fingertip force. 1000 Hz communication rate. 24–60V operating voltage. USB2.0 interface. Wrist RGB camera included. FOV D:130°/H:120°/V:81°, 1920×1080.
✓ Dual Intel Compute
PC1: Intel Core i5 for platform functionality. PC2: Intel Core i7 for user development. Optional PC3 (Jetson Thor) and PC4 (i7/Orin NX) slots for future AI upgrades.
✓ Binocular Vision Head
Wide-angle humanoid-style dual-camera system. 8-core CPU + 10 TOPS NPU on-board head compute for real-time visual perception.
✓ 2-DOF Motorized Column
0.5 m vertical travel at ~200 mm/s max speed. 90° left/right rotation relative to base. Expands workspace from floor level to 2 m height for flexible pick-and-place across full vertical range.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, audio, vision, lighting. Dual encoders per joint. Smart OTA updates.
Dual 7-DOF Arms. Industrial-Grade Kinematics. Human-Like Dexterity.
The H2-D Standard E is engineered around two 7-DOF high-performance arms, each driven by low-inertia inner-rotor PMSM motors with crossed-roller and double-row ball bearings. With ~0.62 m reach per arm and a ~7 kg rated payload per arm (up to ~15 kg peak), it handles precise assembly, heavy pick-and-place, and industrial manipulation research with human-like fluidity. The extra two degrees of freedom per arm provide kinematic redundancy — the arm can maintain end-effector pose while reconfiguring its elbow to avoid obstacles, reach around corners, or optimize for natural motion. Dual encoders on every joint deliver closed-loop precision.
Building on the biomimetic design philosophy of the H2 series, Unitree H2-D features a 20-DOF humanoid architecture, multimodal perception, and an open development framework. Combining industrial-grade reliability, research-oriented openness, and adaptability for commercial deployment, H2-D is a high-performance humanoid platform designed for industrial manipulation, commercial services, robotics research, and embodied AI training.
2-DOF Motorized Column — Expand Your Workspace Vertically
The 2-DOF motorized column provides 0.5 m of vertical travel at speeds up to ~200 mm/s, plus 90° left/right rotation relative to the base. This transforms the robot from a compact 1200 mm unit to a 1700 mm tall workstation — enabling floor-level picking, mid-height assembly, and overhead shelf access without moving the base. Combined with the 1-DOF waist (0°–115° pitch) and 7-DOF arms, H2-D achieves a full spherical workspace spanning from ground to 2 m height — ideal for warehouse logistics, assembly lines, and service robotics.
Dex5-1P Tactile Five-Finger Hands — See, Feel & Grasp With Precision
The Dex5-1P is a 16-DOF five-finger dexterous hand engineered for tactile-aware anthropomorphic precision manipulation. Building on the Dex5-1 platform, it adds an extensive tactile sensor array with 12 single-body array sensors per hand, totaling 94 pressure sensors. The array configuration includes 2×5 sensors on the palm, 2×3 sensors on each finger pad (×5 fingers), 2×3 sensors on each fingertip (×5 fingers), and 2×3 sensors on each finger base (×4 fingers). This comprehensive tactile feedback enables unprecedented sensitivity for delicate object handling, texture recognition, and force-sensitive tasks.
The tactile sensors feature a sensing range of 10 g to 2500 g with a maximum non-destructive force of 20 kg, delivering rich haptic feedback for everything from picking up a single grape to gripping heavy tools. With 4-DOF on the thumb and 3-DOF on each of the other four fingers, the hand achieves human-like finger articulation for power grasps, precision pinches, and in-hand manipulation. ±1 mm repeatability and 10 N fingertip force deliver industrial-grade precision, while the 1000 Hz communication rate ensures responsive real-time control. The wide joint range — thumb J0: -33.5°~39°, J1: 0°~100°, J2: 0°~110°, J3: 0°~92°; fingers J0: -22°~22°, J1: 0°~90°, J2: 0°~95°, J3: 0°~81° (coupled) — enables natural, fluid grasping motions. Operating at 24–60V over USB2.0 with a -20°C ~ 60°C temperature range, the Dex5-1P supports up to 3.5 kg palm-down load and 4.5 kg palm-left load. Each hand includes a wrist RGB camera for close-up visual feedback and grasp verification.
Rich perception feedback includes joint mode, joint position, joint velocity, joint torque, joint temperature, voltage/current, sensor pressure value, sensor temperature value, and IMU data — giving researchers complete observability for reinforcement learning, teleoperation, and embodied AI research.
94
Pressure Sensors
16
Hand DOF
10g–2500g
Sensing Range
1000
Hz Control
1-DOF Waist — Flexible Body Pitch
The 1-DOF waist joint provides 0°–115° pitch, enabling the robot to bend forward for floor-level picking, lean back for overhead access, and orient toward workstations or humans. Combined with the 2-DOF column and 7-DOF arms, H2-D achieves a remarkably flexible posture envelope that covers the full vertical workspace from ground to 2 m.
Dual Intel Compute — Power for Control & Development
The H2-D Standard E ships with a built-in dual-compute architecture: PC1 runs an Intel Core i5 for real-time platform functionality and motion control, while PC2 provides an Intel Core i7 dedicated to user development. This separation ensures deterministic robot behavior while giving researchers full freedom to experiment. Optional expansion slots (PC3 for NVIDIA Jetson Thor, PC4 for Intel i7 or Jetson Orin NX) future-proof the platform as your AI ambitions grow.
Binocular Vision & AI Perception
A wide-angle humanoid-style binocular camera head delivers a broad field of view for spatial awareness. Paired with an 8-core high-performance CPU + 10 TOPS NPU in the head module, plus the dual Intel compute in the body, it runs visual perception, object detection, and gesture recognition locally — no cloud required. The Dex5-1P wrist cameras add close-up visual feedback for precision grasping and finger tracking, complementing the 94 pressure sensors for visuo-tactile fusion and multimodal perception research.
Voice Collaboration & Natural Interaction
Array beamforming microphones and high-power speakers enable clear voice capture and synthesis in noisy industrial floors or warehouses. The open audio framework supports custom wake words, multilingual TTS, and integration with LLMs for conversational command-and-control.
Industrial-Grade. 24/7 Ready.
At 1200–1700 × 576 × 620 mm (height adjustable) and approximately 135 kg, the H2-D Standard E is a substantial industrial workstation. The fixed base supports in-place Z-axis rotation for flexible positioning. Power via the included external power supply for 7×24 continuous operation — the base contains two quick-swap batteries for energy storage and back-EMF absorption, but actual operation requires direct charging.
Biomimetic Design & Full-Body Mobility: a 2-DOF waist and whole-body coordinated motion extend the operating workspace from floor level to a height of 2 m, enabling flexible manipulation across the entire workspace.
Full-Stack Open Development
Unitree provides a mature, Linux-based robot development framework with open APIs for the underlying system, robotic arms, audio, lighting, and visual control. ROS 2 native support, dual encoders on every arm joint, and hollow internal wiring make the H2-D Standard E a clean slate for reinforcement learning, teleoperation research, and embodied AI. The dual Intel compute handles model training and inference without external hardware. The Dex5-1P's rich tactile feedback stream — 94 pressure values, sensor temperatures, and IMU data per hand — provides the dense sensory input needed for cutting-edge tactile-aware AI research.
Upgrade Path — Grow With Your Research
Standard A is the entry point with parallel grippers. Standard B adds three-finger dexterous grasping. Standard C enriches it with tactile sensing. Standard D upgrades to five-finger 16-DOF anthropomorphic manipulation. Standard E adds 94 pressure sensors per hand for full tactile awareness. Every configuration shares the same H2-D wheeled base — the difference is the end effector. Upgrade your capabilities as your research evolves:
- End Effectors — Already at Dex5-1P tactile five-finger 16-DOF with 94 pressure sensors per hand. The pinnacle of H2-D dexterous manipulation. Swap to BrainCo Revo 2/3 series, Inspire Robots RH56DFQ/E2, or WUJI Hand 2 for specialized research.
- Wrist Cameras — Already included with Dex5-1P. All upgrade hands include wrist RGB cameras for close-up visual feedback and grasp verification.
- Compute Module — Add NVIDIA Jetson Thor (PC3) or Intel Core i7 / Jetson Orin NX (PC4) to unlock massive AI performance for embodied intelligence research.
- Power — External PSU included as standard for 7×24 operation. Base batteries are for energy storage and back-EMF absorption only.
Designed For
Tactile-Aware Anthropomorphic Manipulation
16-DOF five-finger hands with 94 pressure sensors per hand enable power grasps, precision pinches, in-hand manipulation, and dexterous tool use with full haptic feedback.
Embodied AI & Reinforcement Learning
Dense tactile input (94 pressure values + IMU per hand) provides the rich sensory feedback needed for RL-based grasping, texture recognition, and force-sensitive task learning.
Warehouse Logistics
0.5 m vertical lift and 0.62 m reach enable shelf-to-shelf picking, packing, and inventory management with tactile-aware five-finger anthropomorphic grasping.
Bimanual Robotics & HRI Research
Dual-arm coordination with tactile feedback, hand-over tasks, and collaborative manipulation with 16-DOF five-finger dexterous hands on both arms.
Technical Specifications
| Model | Unitree H2-D Standard E (Wheeled Base) |
| Dimensions (Min Height) | 1200 × 576 × 620 mm (H × W × D) |
| Dimensions (Max Height) | 1700 × 576 × 620 mm (H × W × D) |
| Weight (with Battery) | ~135 kg |
| Total DOF (without hands) | 19 (Arm 7×2, Waist 1, Head 2, Column 2) |
| Total DOF (with hands) | 51 (Arm 7×2, Waist 1, Head 2, Column 2, Hand 16×2) |
| Arm Reach | ~0.62 m |
| Max Arm Payload | Peak: ~15 kg; Rated: ~7 kg (posture-dependent) |
| Vertical Travel | 0.5 m |
| Vertical Movement Speed | Max ~200 mm/s |
| Waist Joint | 1-DOF — Pitch: 0°–115° |
| Column Joint | 2-DOF — Vertical travel + 90° left/right rotation |
| Head Joint | 2-DOF |
| Base Type | Fixed base with in-place Z-axis rotation |
| End Effectors | Dex5-1P Tactile Five-Finger Dexterous Hands (both arms, pre-installed) with wrist RGB camera |
| Hand DOF | 16 per hand (Thumb 4, Other fingers 3 each) |
| Hand Dimensions | ~217.3 × 127.5 × 72.1 mm |
| Hand Weight | ~1.0 kg per hand |
| Operating Voltage | 24–60V |
| Static Current | 58V @ 0.2A (static), Max 58V @ 3A |
| Communication | USB2.0 |
| Tactile Sensors | 94 pressure sensors per hand (12 array sensors: palm 2×5, finger pads 2×3×5, fingertips 2×3×5, finger bases 2×3×4) |
| Sensing Range | 10 g – 2500 g |
| Max Non-Destructive Force | 20 kg |
| Finger Configuration | Thumb: J0 -33.5°~39°, J1 0°~100°, J2 0°~110°, J3 0°~92°; Fingers: J0 -22°~22°, J1 0°~90°, J2 0°~95°, J3 0°~81° (coupled) |
| Wrist Camera | ±22° side swing; ±1 mm repeatability; 10 mm min grip diameter |
| Grasp Types | Palm down: 3.5 kg max; Palm left: 4.5 kg max |
| Perception Feedback | Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage/Current, Sensor Pressure Value, Sensor Temperature Value, IMU Data |
| Vision | Binocular camera — wide-angle humanoid-style dual-camera system |
| Wrist Cameras | Included — RGB 1920×1080, FOV D:130°/H:120°/V:81° |
| Head Compute | 8-core high-performance CPU + 10 TOPS NPU |
| Body Compute (PC1) | Intel Core i5 (platform functionality) |
| Body Compute (PC2) | Intel Core i7 (user development) |
| Optional Compute (PC3) | NVIDIA Jetson Thor (empty slot, add-on) |
| Optional Compute (PC4) | Intel Core i7 or NVIDIA Jetson Orin NX (empty slot, add-on) |
| Audio | Array microphone + high-power speaker |
| Connectivity | Wi-Fi 6, Bluetooth 5.2, OTA updates |
| Power | External power supply (7×24 direct charging). Base contains 2 quick-swap batteries for energy storage and back-EMF absorption only. |
| Battery Life | 7×24 hours (direct charging) |
| Cabling | Hollow + internal wiring |
| Joint Encoders | Dual + single encoders per joint |
| Cooling | Localized air cooling |
| SDK & Interfaces | Linux-based framework, ROS 2, open APIs for arm/audio/vision/lighting |
| Controllers | Handheld remote control included |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree H2-D Standard E Humanoid Robot (wheeled base)
- Dex5-1P Tactile Five-Finger Dexterous Hands with wrist RGB cameras (pre-installed, both arms)
- Intel Core i5 platform compute module (PC1, pre-installed)
- Intel Core i7 development compute module (PC2, pre-installed)
- External power supply & AC cable
- Binocular vision head module (pre-installed)
- Array microphone + high-power speaker module (pre-installed)
- Handheld remote controller
- Quick-start guide & safety manual
- Secondary development documentation access
H2-D Configuration Guide
Standard A is the entry point. Every configuration shares the same H2-D wheeled base — the difference is the end effector. Choose the one that matches your research goals:
| Config | Hand | DOF (Total) | Features |
|---|---|---|---|
| Standard A | Dex1-1 Advanced (RGB) | 21 | Entry-level parallel grippers with wrist camera, 7-DOF arms, 2-DOF column, stereo vision |
| Standard B | Dex3-1 (RGB) | 33 | 3-finger dexterous hand with wrist RGB camera |
| Standard C | Dex3-1 Tactile (RGB) | 33 | 3-finger hand with 33 tactile sensors + wrist RGB camera |
| Standard D | Dex5-1 (RGB) | 51 | 5-finger 16-DOF hand with wrist RGB camera |
| Standard E | Dex5-1P Tactile (RGB) | 51 | 5-finger 16-DOF hand with 94 pressure sensors + wrist RGB camera |
| Standard F | Revo 2 Basic (RGB) | 31 | 5-finger 6-DOF BrainCo hand with wrist RGB camera |
| Standard G | Revo 2 Touch (RGB) | 31 | 5-finger hand with pressure/friction/direction/proximity sensing + wrist RGB camera |
| Standard H | RH56DFQ (RGB) | 31 | Inspire Robots 5-finger 6-DOF hand with wrist RGB camera |
| Standard I | RH56E2-T1 Tactile (RGB) | 31 | Inspire Robots 5-finger hand with 17 tactile sensors + wrist RGB camera |
| Standard J | Revo 3 U21 (RGB) | 61 | BrainCo 21-DOF hand with wrist RGB camera |
| Standard K | Revo 3 U21T Tactile (RGB) | 61 | BrainCo 21-DOF hand with full-palm tactile + wrist RGB camera |
| Standard L | Revo 3 U21VT Visuo-Tactile (RGB) | 61 | BrainCo 21-DOF hand with visuo-tactile sensing + wrist RGB camera |
| Standard M | WUJI Hand 2 Tactile (RGB) | 59 | WUJI 20-DOF hand with tactile + wrist RGB camera, 1000 Hz control |
* Specifications are based on manufacturer data and may vary slightly by production batch. Optional compute modules and alternative end effectors sold separately.
Unitree® is a registered trademark of Unitree Robotics. Images are for reference; actual product appearance may differ.
Users must maintain a sufficient safety distance. This is a civilian robot — comply with local laws and regulations.
Unitree
by
Unitree
Unitree H2-D Standard E Humanoid Robot Silver
SKU:
H2-D-Standard-E
- Regular price
- $76,800.00
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- $76,800.00
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Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Packaging note:
Equipment is being supplied in a manufacturer packaging
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