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Description
Unitree Robotics — H2-D Ultimate Series
Unitree H2-D Ultimate M
Mobile Dual-Arm Humanoid Robot with WUJI Dexterous Hand 2 (No Tactile) & Dual Intel Core i5/i7 Compute. 60 DOF, 20-DOF five-finger hands with direct-drive rotary joints, 1000 Hz MIT Force/Position Hybrid Control, 15 N fingertip peak force, 4 Hz open/close, EtherNet (1000BASE-T) communication, RGB wrist cameras, LiDAR + depth camera navigation, 1.5 m/s max speed, 0.5 m vertical lift, binocular vision & full-stack open SDK.
H2-D Ultimate M — mobile dual-arm humanoid with WUJI Hand 2 direct-drive dexterous hands, differential-drive chassis with LiDAR navigation
60
Total DOF
7+7
Arm DOF
1.5
m/s Max Speed
0.5
m Vertical Travel
135
kg Weight
What's in This Configuration
The H2-D Ultimate M features WUJI Dexterous Hand 2 (No Tactile) — a 20-DOF five-finger hand platform with direct-drive rotary joints and back-drivable kinematics, designed for high-bandwidth dexterous manipulation research with MIT Force/Position Hybrid Control. Each hand delivers 20 active DOF with a control frequency of 1000 Hz across 20 axes, operating at 16–58 V DC. The WUJI Hand 2 achieves a fingertip peak force of ≥ 15 N and an open/close speed of ≥ 4 times/s (4 Hz) for rapid, precise object handling. The full opposition grasp configuration supports lateral swing, enabling versatile in-hand manipulation and natural human-like grasping. With joint backlash < 1° and direct-drive actuation, the hand delivers exceptional precision and responsiveness for force-controlled tasks. Each hand includes an RGB wrist camera with 1920×1080 resolution and a 130° diagonal FOV (H:120°, V:81°) for close-up visual feedback during manipulation. Communication is handled via EtherNet (1000BASE-T) for high-speed, low-latency data transfer. The hand frame measures approximately 185 × 80 × 40 mm. The 1-DOF motorized column (0.5 m vertical travel) combines with dual 7-DOF arms, a 1-DOF waist (0°–115° pitch), and a 2-DOF head to deliver a 60-DOF manipulation system. The mobile base reaches 1.5 m/s with 360° in-place rotation, equipped with LiDAR, depth camera, collision sensors, and ultrasonic sensors for autonomous navigation. The built-in 48V/30Ah battery (1.44 kWh) provides approximately 5 hours of runtime with support for battery swap and automatic recharging via the included charging station. A visualization computer is included as standard for monitoring and development.
✓ H2-D Ultimate Mobile Dual-Arm Humanoid
Dual 7-DOF arms, 1-DOF waist (0°–115° pitch), 2-DOF head, 1-DOF motorized column (0.5 m vertical travel). 1200×576×620 mm (min) to 1700×576×620 mm (max). ~135 kg. Differential-drive mobile chassis with 360° rotation, max 1.5 m/s.
✓ WUJI Dexterous Hand 2 (No Tactile) (×2)
20-DOF per hand five-finger design with direct-drive rotary joints and back-drivable kinematics. 1000 Hz control frequency across 20 axes, MIT Force/Position Hybrid Control. ≥ 15 N fingertip peak force. Open/close speed ≥ 4 Hz, joint backlash < 1°, voltage 16–58 V DC. Full opposition grasp with lateral swing support, min grasp diameter 0. Communication via EtherNet (1000BASE-T). Includes RGB wrist camera per hand (1920×1080, FOV D:130°/H:120°/V:81°). Hand frame: 185 × 80 × 40 mm.
✓ Autonomous Navigation Stack
LiDAR ×1 + Depth camera ×1 + Physical collision sensors ×2 + Ultrasonic sensors ×2. Differential-drive servo motors with 360° in-place rotation. Turning diameter approx. 0.75 m.
✓ 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.
✓ Power & Charging
Built-in 48V/30Ah battery (1.44 kWh) in mobile chassis. Approx. 5 hours runtime. Supports battery replacement and automatic recharge. Charging station kit included. External power supply also included for stationary operation.
Dual 7-DOF Arms. Industrial-Grade Kinematics. Human-Like Dexterity.
The H2-D Ultimate M 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 Ultimate features a mobile humanoid architecture with multimodal perception and an open development framework. Designed for industrial manipulation, commercial services, robotics research, and embodied AI training.
Autonomous Mobile Chassis — Navigate, Explore & Interact
Unlike the fixed-base H2-D Standard, the H2-D Ultimate features a differential-drive mobile chassis that brings the robot to your environment. With a top speed of 1.5 m/s and 360° in-place rotation (turning diameter ~0.75 m), it navigates warehouses, labs, and service floors with ease. The comprehensive sensor suite includes LiDAR for SLAM mapping, a depth camera for obstacle detection, physical collision sensors for safety bumpers, and ultrasonic sensors for close-range object avoidance. The built-in 48V/30Ah battery (1.44 kWh) delivers approximately 5 hours of continuous operation and supports both manual battery swap and automatic recharging at the included charging station.
1-DOF Motorized Column — Expand Your Workspace Vertically
The 1-DOF motorized column provides 0.5 m of vertical travel at speeds up to ~200 mm/s. 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 while the chassis remains stationary or in motion. Combined with the 1-DOF waist (0°–115° pitch) and 7-DOF arms, H2-D Ultimate M achieves a full spherical workspace spanning from the ground to a height of 2 m — ideal for warehouse logistics, assembly lines, and service robotics.
WUJI Dexterous Hand 2 (No Tactile) — 20-DOF with Direct-Drive Rotary Joints & MIT Hybrid Control
The WUJI Dexterous Hand 2 is a 20-DOF direct-drive dexterous five-finger hand designed for high-bandwidth manipulation research with MIT Force/Position Hybrid Control. Each hand delivers 20 active DOF — providing independent control over every finger segment for natural, human-like grasping and manipulation. The WUJI Hand 2 achieves a fingertip peak force of ≥ 15 N for robust handling of objects across a wide range of weights and shapes. The full opposition grasp configuration supports lateral swing, enabling versatile in-hand manipulation and dexterous object reorientation. With direct-drive rotary joints and back-drivable kinematics, the hand delivers exceptional force transparency and responsiveness for delicate force-controlled tasks. Joint backlash is kept below < 1° for precise positioning. With an open/close speed of ≥ 4 Hz and a control frequency of 1000 Hz across 20 axes, the WUJI Hand 2 delivers rapid, precise response for dynamic manipulation tasks. Operating voltage ranges from 16–58 V DC. Communication is handled via high-speed EtherNet (1000BASE-T) for deterministic, low-latency control. The hand frame measures approximately 185 × 80 × 40 mm. Each hand includes an RGB wrist camera with 1920×1080 resolution and a 130° diagonal FOV (H:120°, V:81°) for close-up visual feedback during manipulation. The minimum grasp diameter is 0, enabling precision pinch grasps on the smallest objects.
20
DOF per Hand
1000Hz
Control Freq
≥15N
Fingertip Force
≥4Hz
Open/Close Speed
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 1-DOF column and 7-DOF arms, H2-D Ultimate M 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 Ultimate M 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. A visualization computer is included as standard for monitoring, debugging, and development.
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 RGB wrist cameras on each WUJI Hand 2 deliver visual feedback for grasping at 1920×1080 resolution with a 130° diagonal FOV (H:120°, V:81°). Combined with the chassis-mounted LiDAR and depth camera, this enables rich multi-modal perception for autonomous navigation and manipulation.
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. Mobile. 24/7 Ready.
At 1200–1700 × 576 × 620 mm (height adjustable) and approximately 135 kg, the H2-D Ultimate M is a substantial yet mobile industrial workstation. The differential-drive chassis supports autonomous navigation with 360° rotation. The built-in 48V/30Ah battery provides approximately 5 hours of runtime with battery swap and automatic recharge support. An external power supply is also included for stationary wired operation. Note: the upper body cannot accommodate a battery — all power is drawn from the chassis.
Biomimetic Design & Full-Body Mobility: a mobile chassis and whole-body coordinated motion extend the operating workspace across entire facilities, enabling flexible manipulation from floor level to 2 m height.
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 Ultimate M a clean slate for reinforcement learning, teleoperation research, SLAM navigation, and embodied AI. The dual Intel compute handles model training and inference without external hardware. The WUJI Hand 2 with 20 DOF per hand, direct-drive rotary joints, 1000 Hz MIT Force/Position Hybrid Control, ≥ 15 N fingertip peak force, and EtherNet (1000BASE-T) communication enable research in high-bandwidth dexterous manipulation, force-controlled grasping, impedance control, whole-hand coordination, and high-frequency feedback control on a mobile humanoid platform. The RGB wrist cameras with 130° FOV provide visual servoing capabilities for precision manipulation tasks. The mobile chassis with LiDAR and depth camera unlocks research in autonomous navigation, multi-robot coordination, and dynamic environment interaction.
Upgrade Path — Grow With Your Research
Ultimate M introduces WUJI Dexterous Hand 2 direct-drive hands on the mobile H2-D Ultimate chassis. Every configuration shares the same mobile base — the difference is the end effector. Upgrade your capabilities as your research evolves:
- End Effectors — Already at WUJI Hand 2 direct-drive dexterous hands with 1000 Hz MIT hybrid control and EtherNet communication. This is the top-tier non-tactile configuration in the Ultimate series.
- Wrist Cameras — Included with RGB wrist cameras per hand (1920×1080, FOV D:130°/H:120°/V:81°). Upgrade hands include appropriate wrist cameras for close-up visual feedback.
- Compute Module — Add NVIDIA Jetson Thor (PC3) or Intel Core i7 / Jetson Orin NX (PC4) to unlock massive AI performance for embodied intelligence and autonomous navigation research.
- Power — Built-in 48V/30Ah battery with charging station included. Supports battery swap and automatic recharge. External PSU also included for stationary wired operation.
Designed For
Autonomous Mobile Manipulation
LiDAR + depth camera navigation with 1.5 m/s max speed and 360° rotation enables the robot to navigate dynamic environments while performing pick-and-place, inspection, and material handling tasks.
High-Bandwidth Dexterous Manipulation
WUJI Hand 2 with 20-DOF, direct-drive rotary joints, 1000 Hz MIT Force/Position Hybrid Control, ≥ 15 N fingertip peak force, ≥ 4 Hz open/close, and EtherNet (1000BASE-T) communication enable high-bandwidth force-controlled grasping, impedance control, whole-hand coordination, and rapid dynamic manipulation research on a mobile humanoid platform.
Embodied AI & Mobile Manipulation
60 DOF with dual Intel compute, ROS 2 native support, 20-DOF direct-drive dexterous five-finger hands, and a full sensor suite create an ideal platform for embodied intelligence, high-bandwidth dexterous mobile manipulation, and human-robot interaction research.
Service & Commercial Robotics
Voice interaction, autonomous navigation, 20-DOF direct-drive dexterous five-finger hands, and a humanoid appearance make H2-D Ultimate M suitable for reception, guidance, object handling, and hospitality applications in commercial environments.
Technical Specifications
| Model | Unitree H2-D Ultimate M (Mobile Base) |
| Dimensions (Min Height) | 1200 x 576 x 620 mm (H x W x D) |
| Dimensions (Max Height) | 1700 x 576 x 620 mm (H x W x D) |
| Weight (with Battery) | ~135 kg |
| Total DOF (without hands) | 20 (Arm 7x2, Waist 1, Head 2, Column 1, Chassis 2) |
| Total DOF (with hands) | 60 (Arm 7x2, Waist 1, Head 2, Column 1, Chassis 2, WUJI Hand 2 20x2) |
| 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 degrees-115 degrees |
| Column Joint | 1-DOF - Vertical travel only |
| Head Joint | 2-DOF |
| Base Type | Differential-drive mobile chassis with 360 degrees rotation |
| Max Travel Speed | 1.5 m/s |
| Turning Diameter | Approx. 0.75 m |
| Chassis Sensors | LiDAR x1 + Depth camera x1 + Physical collision sensors x2 + Ultrasonic sensors x2 |
| End Effectors | WUJI Dexterous Hand 2 (No Tactile) (both arms, pre-installed) with RGB wrist cameras |
| Hand DOF | 20 per hand |
| Hand Type | Five-finger dexterous with direct-drive rotary joints, back-drivable, 20-DOF per hand |
| Hand Fingertip Peak Force | ≥ 15 N |
| Hand Open/Close Speed | ≥ 4 times/s (4 Hz) |
| Hand Control Frequency | 1000 Hz × 20 axes |
| Hand Operating Voltage | 16 – 58 V DC |
| Hand Control Mode | MIT Force/Position Hybrid Control |
| Hand Communication Protocol | EtherNet (1000BASE-T) |
| Hand Size (Frame) | Approx. 185 × 80 × 40 mm |
| Hand Grasp Configuration | Full opposition, supports lateral swing |
| Hand Min Grasp Diameter | 0 |
| Hand Joint Backlash | < 1° |
| Wrist Camera | RGB per hand — 1920×1080, FOV D:130° / H:120° / V:81° |
| Vision | Binocular camera - wide-angle humanoid-style dual-camera system |
| 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 |
| Battery | Built-in 48V/30Ah (1.44 kWh) in mobile chassis - removable. Upper body cannot accommodate battery. |
| Battery Life | Approx. 5 hours (supports battery replacement / automatic recharge) |
| Charging | Charging station kit included + external power supply included |
| 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 |
| Visualization Computer | Included |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree H2-D Ultimate M Humanoid Robot (mobile base)
- WUJI Dexterous Hand 2 (No Tactile) with RGB wrist cameras (pre-installed, both arms)
- Intel Core i5 platform compute module (PC1, pre-installed)
- Intel Core i7 development compute module (PC2, pre-installed)
- Built-in 48V/30Ah battery (pre-installed in chassis)
- Charging station kit
- External power supply & AC cable
- Binocular vision head module (pre-installed)
- Array microphone + high-power speaker module (pre-installed)
- LiDAR + depth camera + collision sensors + ultrasonic sensors (pre-installed on chassis)
- Visualization computer
- Handheld remote controller
- Quick-start guide & safety manual
- Secondary development documentation access
H2-D Ultimate Configuration Guide
Ultimate M introduces WUJI Dexterous Hand 2 direct-drive hands on the mobile H2-D Ultimate chassis. Every configuration shares the same mobile base - the difference is the end effector. Choose the one that matches your research goals:
| Config | Hand | DOF (Total) | Features |
|---|---|---|---|
| Ultimate A | Dex1-1 Advanced (RGB) | 22 | Entry-level parallel grippers with wrist camera, mobile chassis with LiDAR + depth camera, 1.5 m/s |
| Ultimate B | Dex3-1 (RGB) | 34 | 3-finger dexterous hand with wrist RGB camera |
| Ultimate C | Dex3-1 Tactile (RGB) | 34 | 3-finger hand with 33 tactile sensors + wrist RGB camera |
| Ultimate D | Dex5-1 (RGB) | 52 | 5-finger 16-DOF hand with wrist RGB camera |
| Ultimate E | Dex5-1P Tactile (RGB) | 52 | 5-finger hand with 94 pressure sensors + wrist RGB camera |
| Ultimate F | Revo 2 Basic (RGB) | 32 | 5-finger 6-DOF BrainCo hand with wrist RGB camera |
| Ultimate G | Revo 2 Touch (RGB) | 32 | 5-finger hand with pressure/friction/direction/proximity sensing + wrist RGB camera |
| Ultimate H | RH56DFQ (RGB) | 32 | Inspire Robots 5-finger 6-DOF hand with wrist RGB camera |
| Ultimate I | RH56E2-T1 Tactile (RGB) | 32 | Inspire Robots 5-finger 6-DOF hand with 17 tactile sensors + wrist RGB camera |
| Ultimate J | Revo 3 U21 (SHF3L) | 62 | BrainCo 21-DOF hand with Senyun SHF3L wrist camera (196 degrees HFOV, -40 degreesC to +85 degreesC) |
| Ultimate K | Revo 3 U21T Tactile (SHF3L) | 62 | BrainCo 21-DOF hand with full-palm tactile + SHF3L wrist camera |
| Ultimate L | Revo 3 U21VT Visuo-Tactile (SHF3L) | 62 | BrainCo 21-DOF hand with visuo-tactile fusion sensing + SHF3L wrist camera |
| Ultimate M | WUJI Hand 2 (RGB) | 60 | WUJI 20-DOF hand with direct-drive joints, 1000 Hz MIT hybrid control, EtherNet |
* 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 Ultimate Series
Unitree H2-D Ultimate M
Mobile Dual-Arm Humanoid Robot with WUJI Dexterous Hand 2 (No Tactile) & Dual Intel Core i5/i7 Compute. 60 DOF, 20-DOF five-finger hands with direct-drive rotary joints, 1000 Hz MIT Force/Position Hybrid Control, 15 N fingertip peak force, 4 Hz open/close, EtherNet (1000BASE-T) communication, RGB wrist cameras, LiDAR + depth camera navigation, 1.5 m/s max speed, 0.5 m vertical lift, binocular vision & full-stack open SDK.
H2-D Ultimate M — mobile dual-arm humanoid with WUJI Hand 2 direct-drive dexterous hands, differential-drive chassis with LiDAR navigation
60
Total DOF
7+7
Arm DOF
1.5
m/s Max Speed
0.5
m Vertical Travel
135
kg Weight
What's in This Configuration
The H2-D Ultimate M features WUJI Dexterous Hand 2 (No Tactile) — a 20-DOF five-finger hand platform with direct-drive rotary joints and back-drivable kinematics, designed for high-bandwidth dexterous manipulation research with MIT Force/Position Hybrid Control. Each hand delivers 20 active DOF with a control frequency of 1000 Hz across 20 axes, operating at 16–58 V DC. The WUJI Hand 2 achieves a fingertip peak force of ≥ 15 N and an open/close speed of ≥ 4 times/s (4 Hz) for rapid, precise object handling. The full opposition grasp configuration supports lateral swing, enabling versatile in-hand manipulation and natural human-like grasping. With joint backlash < 1° and direct-drive actuation, the hand delivers exceptional precision and responsiveness for force-controlled tasks. Each hand includes an RGB wrist camera with 1920×1080 resolution and a 130° diagonal FOV (H:120°, V:81°) for close-up visual feedback during manipulation. Communication is handled via EtherNet (1000BASE-T) for high-speed, low-latency data transfer. The hand frame measures approximately 185 × 80 × 40 mm. The 1-DOF motorized column (0.5 m vertical travel) combines with dual 7-DOF arms, a 1-DOF waist (0°–115° pitch), and a 2-DOF head to deliver a 60-DOF manipulation system. The mobile base reaches 1.5 m/s with 360° in-place rotation, equipped with LiDAR, depth camera, collision sensors, and ultrasonic sensors for autonomous navigation. The built-in 48V/30Ah battery (1.44 kWh) provides approximately 5 hours of runtime with support for battery swap and automatic recharging via the included charging station. A visualization computer is included as standard for monitoring and development.
✓ H2-D Ultimate Mobile Dual-Arm Humanoid
Dual 7-DOF arms, 1-DOF waist (0°–115° pitch), 2-DOF head, 1-DOF motorized column (0.5 m vertical travel). 1200×576×620 mm (min) to 1700×576×620 mm (max). ~135 kg. Differential-drive mobile chassis with 360° rotation, max 1.5 m/s.
✓ WUJI Dexterous Hand 2 (No Tactile) (×2)
20-DOF per hand five-finger design with direct-drive rotary joints and back-drivable kinematics. 1000 Hz control frequency across 20 axes, MIT Force/Position Hybrid Control. ≥ 15 N fingertip peak force. Open/close speed ≥ 4 Hz, joint backlash < 1°, voltage 16–58 V DC. Full opposition grasp with lateral swing support, min grasp diameter 0. Communication via EtherNet (1000BASE-T). Includes RGB wrist camera per hand (1920×1080, FOV D:130°/H:120°/V:81°). Hand frame: 185 × 80 × 40 mm.
✓ Autonomous Navigation Stack
LiDAR ×1 + Depth camera ×1 + Physical collision sensors ×2 + Ultrasonic sensors ×2. Differential-drive servo motors with 360° in-place rotation. Turning diameter approx. 0.75 m.
✓ 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.
✓ Power & Charging
Built-in 48V/30Ah battery (1.44 kWh) in mobile chassis. Approx. 5 hours runtime. Supports battery replacement and automatic recharge. Charging station kit included. External power supply also included for stationary operation.
Dual 7-DOF Arms. Industrial-Grade Kinematics. Human-Like Dexterity.
The H2-D Ultimate M 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 Ultimate features a mobile humanoid architecture with multimodal perception and an open development framework. Designed for industrial manipulation, commercial services, robotics research, and embodied AI training.
Autonomous Mobile Chassis — Navigate, Explore & Interact
Unlike the fixed-base H2-D Standard, the H2-D Ultimate features a differential-drive mobile chassis that brings the robot to your environment. With a top speed of 1.5 m/s and 360° in-place rotation (turning diameter ~0.75 m), it navigates warehouses, labs, and service floors with ease. The comprehensive sensor suite includes LiDAR for SLAM mapping, a depth camera for obstacle detection, physical collision sensors for safety bumpers, and ultrasonic sensors for close-range object avoidance. The built-in 48V/30Ah battery (1.44 kWh) delivers approximately 5 hours of continuous operation and supports both manual battery swap and automatic recharging at the included charging station.
1-DOF Motorized Column — Expand Your Workspace Vertically
The 1-DOF motorized column provides 0.5 m of vertical travel at speeds up to ~200 mm/s. 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 while the chassis remains stationary or in motion. Combined with the 1-DOF waist (0°–115° pitch) and 7-DOF arms, H2-D Ultimate M achieves a full spherical workspace spanning from the ground to a height of 2 m — ideal for warehouse logistics, assembly lines, and service robotics.
WUJI Dexterous Hand 2 (No Tactile) — 20-DOF with Direct-Drive Rotary Joints & MIT Hybrid Control
The WUJI Dexterous Hand 2 is a 20-DOF direct-drive dexterous five-finger hand designed for high-bandwidth manipulation research with MIT Force/Position Hybrid Control. Each hand delivers 20 active DOF — providing independent control over every finger segment for natural, human-like grasping and manipulation. The WUJI Hand 2 achieves a fingertip peak force of ≥ 15 N for robust handling of objects across a wide range of weights and shapes. The full opposition grasp configuration supports lateral swing, enabling versatile in-hand manipulation and dexterous object reorientation. With direct-drive rotary joints and back-drivable kinematics, the hand delivers exceptional force transparency and responsiveness for delicate force-controlled tasks. Joint backlash is kept below < 1° for precise positioning. With an open/close speed of ≥ 4 Hz and a control frequency of 1000 Hz across 20 axes, the WUJI Hand 2 delivers rapid, precise response for dynamic manipulation tasks. Operating voltage ranges from 16–58 V DC. Communication is handled via high-speed EtherNet (1000BASE-T) for deterministic, low-latency control. The hand frame measures approximately 185 × 80 × 40 mm. Each hand includes an RGB wrist camera with 1920×1080 resolution and a 130° diagonal FOV (H:120°, V:81°) for close-up visual feedback during manipulation. The minimum grasp diameter is 0, enabling precision pinch grasps on the smallest objects.
20
DOF per Hand
1000Hz
Control Freq
≥15N
Fingertip Force
≥4Hz
Open/Close Speed
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 1-DOF column and 7-DOF arms, H2-D Ultimate M 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 Ultimate M 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. A visualization computer is included as standard for monitoring, debugging, and development.
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 RGB wrist cameras on each WUJI Hand 2 deliver visual feedback for grasping at 1920×1080 resolution with a 130° diagonal FOV (H:120°, V:81°). Combined with the chassis-mounted LiDAR and depth camera, this enables rich multi-modal perception for autonomous navigation and manipulation.
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. Mobile. 24/7 Ready.
At 1200–1700 × 576 × 620 mm (height adjustable) and approximately 135 kg, the H2-D Ultimate M is a substantial yet mobile industrial workstation. The differential-drive chassis supports autonomous navigation with 360° rotation. The built-in 48V/30Ah battery provides approximately 5 hours of runtime with battery swap and automatic recharge support. An external power supply is also included for stationary wired operation. Note: the upper body cannot accommodate a battery — all power is drawn from the chassis.
Biomimetic Design & Full-Body Mobility: a mobile chassis and whole-body coordinated motion extend the operating workspace across entire facilities, enabling flexible manipulation from floor level to 2 m height.
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 Ultimate M a clean slate for reinforcement learning, teleoperation research, SLAM navigation, and embodied AI. The dual Intel compute handles model training and inference without external hardware. The WUJI Hand 2 with 20 DOF per hand, direct-drive rotary joints, 1000 Hz MIT Force/Position Hybrid Control, ≥ 15 N fingertip peak force, and EtherNet (1000BASE-T) communication enable research in high-bandwidth dexterous manipulation, force-controlled grasping, impedance control, whole-hand coordination, and high-frequency feedback control on a mobile humanoid platform. The RGB wrist cameras with 130° FOV provide visual servoing capabilities for precision manipulation tasks. The mobile chassis with LiDAR and depth camera unlocks research in autonomous navigation, multi-robot coordination, and dynamic environment interaction.
Upgrade Path — Grow With Your Research
Ultimate M introduces WUJI Dexterous Hand 2 direct-drive hands on the mobile H2-D Ultimate chassis. Every configuration shares the same mobile base — the difference is the end effector. Upgrade your capabilities as your research evolves:
- End Effectors — Already at WUJI Hand 2 direct-drive dexterous hands with 1000 Hz MIT hybrid control and EtherNet communication. This is the top-tier non-tactile configuration in the Ultimate series.
- Wrist Cameras — Included with RGB wrist cameras per hand (1920×1080, FOV D:130°/H:120°/V:81°). Upgrade hands include appropriate wrist cameras for close-up visual feedback.
- Compute Module — Add NVIDIA Jetson Thor (PC3) or Intel Core i7 / Jetson Orin NX (PC4) to unlock massive AI performance for embodied intelligence and autonomous navigation research.
- Power — Built-in 48V/30Ah battery with charging station included. Supports battery swap and automatic recharge. External PSU also included for stationary wired operation.
Designed For
Autonomous Mobile Manipulation
LiDAR + depth camera navigation with 1.5 m/s max speed and 360° rotation enables the robot to navigate dynamic environments while performing pick-and-place, inspection, and material handling tasks.
High-Bandwidth Dexterous Manipulation
WUJI Hand 2 with 20-DOF, direct-drive rotary joints, 1000 Hz MIT Force/Position Hybrid Control, ≥ 15 N fingertip peak force, ≥ 4 Hz open/close, and EtherNet (1000BASE-T) communication enable high-bandwidth force-controlled grasping, impedance control, whole-hand coordination, and rapid dynamic manipulation research on a mobile humanoid platform.
Embodied AI & Mobile Manipulation
60 DOF with dual Intel compute, ROS 2 native support, 20-DOF direct-drive dexterous five-finger hands, and a full sensor suite create an ideal platform for embodied intelligence, high-bandwidth dexterous mobile manipulation, and human-robot interaction research.
Service & Commercial Robotics
Voice interaction, autonomous navigation, 20-DOF direct-drive dexterous five-finger hands, and a humanoid appearance make H2-D Ultimate M suitable for reception, guidance, object handling, and hospitality applications in commercial environments.
Technical Specifications
| Model | Unitree H2-D Ultimate M (Mobile Base) |
| Dimensions (Min Height) | 1200 x 576 x 620 mm (H x W x D) |
| Dimensions (Max Height) | 1700 x 576 x 620 mm (H x W x D) |
| Weight (with Battery) | ~135 kg |
| Total DOF (without hands) | 20 (Arm 7x2, Waist 1, Head 2, Column 1, Chassis 2) |
| Total DOF (with hands) | 60 (Arm 7x2, Waist 1, Head 2, Column 1, Chassis 2, WUJI Hand 2 20x2) |
| 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 degrees-115 degrees |
| Column Joint | 1-DOF - Vertical travel only |
| Head Joint | 2-DOF |
| Base Type | Differential-drive mobile chassis with 360 degrees rotation |
| Max Travel Speed | 1.5 m/s |
| Turning Diameter | Approx. 0.75 m |
| Chassis Sensors | LiDAR x1 + Depth camera x1 + Physical collision sensors x2 + Ultrasonic sensors x2 |
| End Effectors | WUJI Dexterous Hand 2 (No Tactile) (both arms, pre-installed) with RGB wrist cameras |
| Hand DOF | 20 per hand |
| Hand Type | Five-finger dexterous with direct-drive rotary joints, back-drivable, 20-DOF per hand |
| Hand Fingertip Peak Force | ≥ 15 N |
| Hand Open/Close Speed | ≥ 4 times/s (4 Hz) |
| Hand Control Frequency | 1000 Hz × 20 axes |
| Hand Operating Voltage | 16 – 58 V DC |
| Hand Control Mode | MIT Force/Position Hybrid Control |
| Hand Communication Protocol | EtherNet (1000BASE-T) |
| Hand Size (Frame) | Approx. 185 × 80 × 40 mm |
| Hand Grasp Configuration | Full opposition, supports lateral swing |
| Hand Min Grasp Diameter | 0 |
| Hand Joint Backlash | < 1° |
| Wrist Camera | RGB per hand — 1920×1080, FOV D:130° / H:120° / V:81° |
| Vision | Binocular camera - wide-angle humanoid-style dual-camera system |
| 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 |
| Battery | Built-in 48V/30Ah (1.44 kWh) in mobile chassis - removable. Upper body cannot accommodate battery. |
| Battery Life | Approx. 5 hours (supports battery replacement / automatic recharge) |
| Charging | Charging station kit included + external power supply included |
| 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 |
| Visualization Computer | Included |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree H2-D Ultimate M Humanoid Robot (mobile base)
- WUJI Dexterous Hand 2 (No Tactile) with RGB wrist cameras (pre-installed, both arms)
- Intel Core i5 platform compute module (PC1, pre-installed)
- Intel Core i7 development compute module (PC2, pre-installed)
- Built-in 48V/30Ah battery (pre-installed in chassis)
- Charging station kit
- External power supply & AC cable
- Binocular vision head module (pre-installed)
- Array microphone + high-power speaker module (pre-installed)
- LiDAR + depth camera + collision sensors + ultrasonic sensors (pre-installed on chassis)
- Visualization computer
- Handheld remote controller
- Quick-start guide & safety manual
- Secondary development documentation access
H2-D Ultimate Configuration Guide
Ultimate M introduces WUJI Dexterous Hand 2 direct-drive hands on the mobile H2-D Ultimate chassis. Every configuration shares the same mobile base - the difference is the end effector. Choose the one that matches your research goals:
| Config | Hand | DOF (Total) | Features |
|---|---|---|---|
| Ultimate A | Dex1-1 Advanced (RGB) | 22 | Entry-level parallel grippers with wrist camera, mobile chassis with LiDAR + depth camera, 1.5 m/s |
| Ultimate B | Dex3-1 (RGB) | 34 | 3-finger dexterous hand with wrist RGB camera |
| Ultimate C | Dex3-1 Tactile (RGB) | 34 | 3-finger hand with 33 tactile sensors + wrist RGB camera |
| Ultimate D | Dex5-1 (RGB) | 52 | 5-finger 16-DOF hand with wrist RGB camera |
| Ultimate E | Dex5-1P Tactile (RGB) | 52 | 5-finger hand with 94 pressure sensors + wrist RGB camera |
| Ultimate F | Revo 2 Basic (RGB) | 32 | 5-finger 6-DOF BrainCo hand with wrist RGB camera |
| Ultimate G | Revo 2 Touch (RGB) | 32 | 5-finger hand with pressure/friction/direction/proximity sensing + wrist RGB camera |
| Ultimate H | RH56DFQ (RGB) | 32 | Inspire Robots 5-finger 6-DOF hand with wrist RGB camera |
| Ultimate I | RH56E2-T1 Tactile (RGB) | 32 | Inspire Robots 5-finger 6-DOF hand with 17 tactile sensors + wrist RGB camera |
| Ultimate J | Revo 3 U21 (SHF3L) | 62 | BrainCo 21-DOF hand with Senyun SHF3L wrist camera (196 degrees HFOV, -40 degreesC to +85 degreesC) |
| Ultimate K | Revo 3 U21T Tactile (SHF3L) | 62 | BrainCo 21-DOF hand with full-palm tactile + SHF3L wrist camera |
| Ultimate L | Revo 3 U21VT Visuo-Tactile (SHF3L) | 62 | BrainCo 21-DOF hand with visuo-tactile fusion sensing + SHF3L wrist camera |
| Ultimate M | WUJI Hand 2 (RGB) | 60 | WUJI 20-DOF hand with direct-drive joints, 1000 Hz MIT hybrid control, EtherNet |
* 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 Ultimate M Humanoid Robot Silver
SKU:
H2-D-Ultimate-M
- Regular price
- $94,300.00
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- $94,300.00
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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
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