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Description
Unitree Robotics — H2-D Ultimate Series
Unitree H2-D Ultimate E
Mobile Dual-Arm Humanoid Robot with Dex5-1P Tactile Five-Finger Hands & Dual Intel Core i5/i7 Compute. 52 DOF, 5-finger 16-DOF hands with 94 pressure sensors, 12 array sensors, USB 2.0, 1000 Hz, LiDAR + depth camera navigation, 1.5 m/s max speed, 0.5 m vertical lift, binocular vision & full-stack open SDK.
H2-D Ultimate E — mobile dual-arm humanoid with Dex5-1P tactile five-finger dexterous hands, differential-drive chassis with LiDAR navigation
52
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 E adds 94 pressure sensors per hand to the Dex5-1 five-finger dexterous platform — the most sensor-rich configuration in the Ultimate series. It combines a 1-DOF motorized column (0.5 m vertical travel) with dual 7-DOF arms, a 1-DOF waist (0°–115° pitch), and a 2-DOF head to deliver a 52-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. Each Dex5-1P Tactile hand features 16 active DOF (thumb ×4, other four fingers ×3 each) with 12 self-developed micro force-controlled compound joints and 4 micro force-controlled gear joints, plus 12 single-body array sensors housing a total of 94 pressure sensors per hand. The tactile array layout includes 2×5 (palm), 2×3 per finger pad ×5, 2×3 per fingertip ×5, and 2×3 per finger base ×4, with a sensing range of 10 g–2500 g and maximum acceptable force of 20 kg (non-destructive). Operating at 24–60 V with USB 2.0 communication at 1000 Hz, each hand delivers 10 N fingertip force and handles loads up to 3.5 kg (palm down) or 4.5 kg (palm left). Rich perception feedback includes joint mode, position, velocity, torque, temperature, voltage/current, sensor pressure value, sensor temperature value, and IMU data. Each hand includes an RGB wrist camera with a 130° diagonal FOV and 1920×1080 resolution. 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.
✓ Dex5-1P Tactile Five-Finger Dexterous Hands (×2)
16-DOF per hand (thumb ×4, other four fingers ×3 each) + 94 pressure sensors per hand (12 single-body array sensors). 12 micro force-controlled compound joints + 4 micro force-controlled gear joints. Operating voltage 24–60 V. Static 58 V @ 0.2 A, max 58 V @ 3 A. USB 2.0 at 1000 Hz. Fingertip force 10 N. Sensing range: 10 g–2500 g. Max acceptable force: 20 kg. Includes wrist RGB camera (FOV D:130°/H:120°/V:81°, 1920×1080). Temp: –20°C to +60°C.
✓ 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 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 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 achieves a full spherical workspace spanning from the ground to a height of 2 m — ideal for warehouse logistics, assembly lines, and service robotics.
Dex5-1P Tactile Five-Finger Dexterous Hands — Feel, Grasp & Master
The Dex5-1P Tactile is a high-performance five-finger dexterous hand with integrated pressure sensing, engineered for the most demanding tactile manipulation research. Each hand delivers 16 active DOF — thumb with 4-DOF for full opposition and precision pinch, and each of the other four fingers with 3-DOF for independent flexion, extension, and lateral swing. The transmission system combines 12 self-developed micro force-controlled compound joints with 4 micro force-controlled gear joints, enabling precise proprioception. Joint ranges include thumb J0: –33.5°–39°, J1: 0°–100°, J2: 0°–110°, J3: 0°–92°; four fingers J0: –22°–22°, J1: 0°–90°, J2: 0°–95°, J3: 0°–81° (coupled with J2); lateral swing ±22°. Each hand is equipped with 12 single-body array sensors containing a total of 94 pressure sensors: 2×5 (palm), 2×3 per finger pad ×5, 2×3 per fingertip ×5, and 2×3 per finger base ×4. The sensing range spans 10 g–2500 g with a maximum acceptable force of 20 kg (non-destructive). With ±1 mm repeatability, 10 mm minimum grip diameter, and 10 N fingertip force, the Dex5-1P handles loads up to 3.5 kg (palm down) or 4.5 kg (palm left) on a 5 cm rigid sphere. Operating at 24–60 V (static 58 V @ 0.2 A, max 58 V @ 3 A), it communicates via USB 2.0 at 1000 Hz with rich perception feedback: joint mode, position, velocity, torque, temperature, voltage/current, sensor pressure value, sensor temperature value, and IMU data. Each hand includes an RGB wrist camera with a 130° diagonal FOV and 1920×1080 resolution. Operating temperature: –20°C to +60°C.
94
Pressure Sensors
5
Fingers per Hand
10N
Fingertip Force
1000Hz
Comm Rate
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 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 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. 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 Dex5-1P hand add close-up visual feedback for precision grasping at 1920×1080 resolution with a 130° diagonal FOV. 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 E 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 E 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 Dex5-1P hands with USB 2.0 control at 1000 Hz and 94 pressure sensors per hand enable research in tactile-aware five-finger grasp planning, pressure distribution analysis, slip prevention, whole-hand manipulation, and sensorimotor learning with rich haptic feedback. 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 E adds 94 pressure sensors per hand to the five-finger dexterous platform 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 Dex5-1P Tactile five-finger dexterous hands. Upgrade to BrainCo Revo 2/3 series, Inspire Robots RH56 series, or WUJI Hand 2 for alternative dexterous manipulation approaches.
- Wrist Cameras — Already included with RGB wrist cameras per hand (FOV D:130°/H:120°/V:81°, 1920×1080). All upgrade hands include wrist RGB 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.
Tactile-Aware Human-Like Manipulation
Dex5-1P hands with 16-DOF, 94 pressure sensors per hand, 10 N fingertip force, and 1000 Hz USB 2.0 control enable pressure-aware grasp planning, slip prevention, whole-hand manipulation, and haptic feedback research.
Embodied AI & Haptic Learning
52 DOF with dual Intel compute, ROS 2 native support, 94 pressure sensors per hand, micro force-controlled joints, and a full sensor suite create an ideal platform for haptic learning, tactile SLAM, and embodied intelligence research.
Service & Commercial Robotics
Voice interaction, autonomous navigation, tactile five-finger dexterous hands with pressure sensing, and a humanoid appearance make H2-D Ultimate E suitable for reception, guidance, delicate object handling, and hospitality applications in commercial environments.
Technical Specifications
| Model | Unitree H2-D Ultimate E (Mobile 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) | 20 (Arm 7×2, Waist 1, Head 2, Column 1, Chassis 2) |
| Total DOF (with hands) | 52 (Arm 7×2, Waist 1, Head 2, Column 1, Chassis 2, Dex5-1 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 | 1-DOF — Vertical travel only |
| Head Joint | 2-DOF |
| Base Type | Differential-drive mobile chassis with 360° rotation |
| Max Travel Speed | 1.5 m/s |
| Turning Diameter | Approx. 0.75 m |
| Chassis Sensors | LiDAR ×1 + Depth camera ×1 + Physical collision sensors ×2 + Ultrasonic sensors ×2 |
| End Effectors | Dex5-1P Tactile Five-Finger Dexterous Hands (both arms, pre-installed) with RGB wrist cameras |
| Hand Dimensions | Not specified by manufacturer |
| Hand Weight | Not specified by manufacturer |
| Hand DOF | 16 per hand (Thumb ×4, Index/Middle/Ring/Little ×3 each) |
| Hand Operating Voltage | 24–60 V DC |
| Hand Current | Static: 58 V @ 0.2 A; Max: 58 V @ 3 A |
| Hand Communication | USB 2.0 (1000 Hz) |
| Hand Transmission | 12 micro force-controlled compound joints + 4 micro force-controlled gear joints |
| Hand Joint Range | Thumb: J0 –33.5°–39°, J1 0°–100°, J2 0°–110°, J3 0°–92°; Four fingers: J0 –22°–22°, J1 0°–90°, J2 0°–95°, J3 0°–81° (coupled with J2); Lateral swing ±22° |
| Hand Tactile Sensing | 94 pressure sensors per hand via 12 single-body array sensors (upgrade to BrainCo Revo 3 or WUJI Hand 2 available) |
| Tactile Array Layout | Palm: 2×5; Finger pads: 2×3 ×5; Fingertips: 2×3 ×5; Finger bases: 2×3 ×4 |
| Sensing Range | 10 g – 2500 g |
| Max Acceptable Force | 20 kg (non-destructive) |
| Hand Repeatability | ±1 mm |
| Min Grip Diameter | 10 mm |
| Fingertip Force | 10 N |
| Max Load (5 cm rigid sphere) | 3.5 kg (palm down), 4.5 kg (palm left) |
| Hand Temp Range | –20°C to +60°C |
| Hand Perception Feedback | Joint mode, position, velocity, torque, temperature, voltage/current, sensor pressure value, sensor temperature value, IMU data |
| 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 E Humanoid Robot (mobile base)
- Dex5-1P Tactile Five-Finger Dexterous Hands 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 E adds pressure sensing to five-finger dexterous 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° HFOV, –40°C to +85°C) |
| 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 E
Mobile Dual-Arm Humanoid Robot with Dex5-1P Tactile Five-Finger Hands & Dual Intel Core i5/i7 Compute. 52 DOF, 5-finger 16-DOF hands with 94 pressure sensors, 12 array sensors, USB 2.0, 1000 Hz, LiDAR + depth camera navigation, 1.5 m/s max speed, 0.5 m vertical lift, binocular vision & full-stack open SDK.
H2-D Ultimate E — mobile dual-arm humanoid with Dex5-1P tactile five-finger dexterous hands, differential-drive chassis with LiDAR navigation
52
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 E adds 94 pressure sensors per hand to the Dex5-1 five-finger dexterous platform — the most sensor-rich configuration in the Ultimate series. It combines a 1-DOF motorized column (0.5 m vertical travel) with dual 7-DOF arms, a 1-DOF waist (0°–115° pitch), and a 2-DOF head to deliver a 52-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. Each Dex5-1P Tactile hand features 16 active DOF (thumb ×4, other four fingers ×3 each) with 12 self-developed micro force-controlled compound joints and 4 micro force-controlled gear joints, plus 12 single-body array sensors housing a total of 94 pressure sensors per hand. The tactile array layout includes 2×5 (palm), 2×3 per finger pad ×5, 2×3 per fingertip ×5, and 2×3 per finger base ×4, with a sensing range of 10 g–2500 g and maximum acceptable force of 20 kg (non-destructive). Operating at 24–60 V with USB 2.0 communication at 1000 Hz, each hand delivers 10 N fingertip force and handles loads up to 3.5 kg (palm down) or 4.5 kg (palm left). Rich perception feedback includes joint mode, position, velocity, torque, temperature, voltage/current, sensor pressure value, sensor temperature value, and IMU data. Each hand includes an RGB wrist camera with a 130° diagonal FOV and 1920×1080 resolution. 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.
✓ Dex5-1P Tactile Five-Finger Dexterous Hands (×2)
16-DOF per hand (thumb ×4, other four fingers ×3 each) + 94 pressure sensors per hand (12 single-body array sensors). 12 micro force-controlled compound joints + 4 micro force-controlled gear joints. Operating voltage 24–60 V. Static 58 V @ 0.2 A, max 58 V @ 3 A. USB 2.0 at 1000 Hz. Fingertip force 10 N. Sensing range: 10 g–2500 g. Max acceptable force: 20 kg. Includes wrist RGB camera (FOV D:130°/H:120°/V:81°, 1920×1080). Temp: –20°C to +60°C.
✓ 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 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 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 achieves a full spherical workspace spanning from the ground to a height of 2 m — ideal for warehouse logistics, assembly lines, and service robotics.
Dex5-1P Tactile Five-Finger Dexterous Hands — Feel, Grasp & Master
The Dex5-1P Tactile is a high-performance five-finger dexterous hand with integrated pressure sensing, engineered for the most demanding tactile manipulation research. Each hand delivers 16 active DOF — thumb with 4-DOF for full opposition and precision pinch, and each of the other four fingers with 3-DOF for independent flexion, extension, and lateral swing. The transmission system combines 12 self-developed micro force-controlled compound joints with 4 micro force-controlled gear joints, enabling precise proprioception. Joint ranges include thumb J0: –33.5°–39°, J1: 0°–100°, J2: 0°–110°, J3: 0°–92°; four fingers J0: –22°–22°, J1: 0°–90°, J2: 0°–95°, J3: 0°–81° (coupled with J2); lateral swing ±22°. Each hand is equipped with 12 single-body array sensors containing a total of 94 pressure sensors: 2×5 (palm), 2×3 per finger pad ×5, 2×3 per fingertip ×5, and 2×3 per finger base ×4. The sensing range spans 10 g–2500 g with a maximum acceptable force of 20 kg (non-destructive). With ±1 mm repeatability, 10 mm minimum grip diameter, and 10 N fingertip force, the Dex5-1P handles loads up to 3.5 kg (palm down) or 4.5 kg (palm left) on a 5 cm rigid sphere. Operating at 24–60 V (static 58 V @ 0.2 A, max 58 V @ 3 A), it communicates via USB 2.0 at 1000 Hz with rich perception feedback: joint mode, position, velocity, torque, temperature, voltage/current, sensor pressure value, sensor temperature value, and IMU data. Each hand includes an RGB wrist camera with a 130° diagonal FOV and 1920×1080 resolution. Operating temperature: –20°C to +60°C.
94
Pressure Sensors
5
Fingers per Hand
10N
Fingertip Force
1000Hz
Comm Rate
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 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 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. 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 Dex5-1P hand add close-up visual feedback for precision grasping at 1920×1080 resolution with a 130° diagonal FOV. 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 E 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 E 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 Dex5-1P hands with USB 2.0 control at 1000 Hz and 94 pressure sensors per hand enable research in tactile-aware five-finger grasp planning, pressure distribution analysis, slip prevention, whole-hand manipulation, and sensorimotor learning with rich haptic feedback. 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 E adds 94 pressure sensors per hand to the five-finger dexterous platform 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 Dex5-1P Tactile five-finger dexterous hands. Upgrade to BrainCo Revo 2/3 series, Inspire Robots RH56 series, or WUJI Hand 2 for alternative dexterous manipulation approaches.
- Wrist Cameras — Already included with RGB wrist cameras per hand (FOV D:130°/H:120°/V:81°, 1920×1080). All upgrade hands include wrist RGB 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.
Tactile-Aware Human-Like Manipulation
Dex5-1P hands with 16-DOF, 94 pressure sensors per hand, 10 N fingertip force, and 1000 Hz USB 2.0 control enable pressure-aware grasp planning, slip prevention, whole-hand manipulation, and haptic feedback research.
Embodied AI & Haptic Learning
52 DOF with dual Intel compute, ROS 2 native support, 94 pressure sensors per hand, micro force-controlled joints, and a full sensor suite create an ideal platform for haptic learning, tactile SLAM, and embodied intelligence research.
Service & Commercial Robotics
Voice interaction, autonomous navigation, tactile five-finger dexterous hands with pressure sensing, and a humanoid appearance make H2-D Ultimate E suitable for reception, guidance, delicate object handling, and hospitality applications in commercial environments.
Technical Specifications
| Model | Unitree H2-D Ultimate E (Mobile 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) | 20 (Arm 7×2, Waist 1, Head 2, Column 1, Chassis 2) |
| Total DOF (with hands) | 52 (Arm 7×2, Waist 1, Head 2, Column 1, Chassis 2, Dex5-1 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 | 1-DOF — Vertical travel only |
| Head Joint | 2-DOF |
| Base Type | Differential-drive mobile chassis with 360° rotation |
| Max Travel Speed | 1.5 m/s |
| Turning Diameter | Approx. 0.75 m |
| Chassis Sensors | LiDAR ×1 + Depth camera ×1 + Physical collision sensors ×2 + Ultrasonic sensors ×2 |
| End Effectors | Dex5-1P Tactile Five-Finger Dexterous Hands (both arms, pre-installed) with RGB wrist cameras |
| Hand Dimensions | Not specified by manufacturer |
| Hand Weight | Not specified by manufacturer |
| Hand DOF | 16 per hand (Thumb ×4, Index/Middle/Ring/Little ×3 each) |
| Hand Operating Voltage | 24–60 V DC |
| Hand Current | Static: 58 V @ 0.2 A; Max: 58 V @ 3 A |
| Hand Communication | USB 2.0 (1000 Hz) |
| Hand Transmission | 12 micro force-controlled compound joints + 4 micro force-controlled gear joints |
| Hand Joint Range | Thumb: J0 –33.5°–39°, J1 0°–100°, J2 0°–110°, J3 0°–92°; Four fingers: J0 –22°–22°, J1 0°–90°, J2 0°–95°, J3 0°–81° (coupled with J2); Lateral swing ±22° |
| Hand Tactile Sensing | 94 pressure sensors per hand via 12 single-body array sensors (upgrade to BrainCo Revo 3 or WUJI Hand 2 available) |
| Tactile Array Layout | Palm: 2×5; Finger pads: 2×3 ×5; Fingertips: 2×3 ×5; Finger bases: 2×3 ×4 |
| Sensing Range | 10 g – 2500 g |
| Max Acceptable Force | 20 kg (non-destructive) |
| Hand Repeatability | ±1 mm |
| Min Grip Diameter | 10 mm |
| Fingertip Force | 10 N |
| Max Load (5 cm rigid sphere) | 3.5 kg (palm down), 4.5 kg (palm left) |
| Hand Temp Range | –20°C to +60°C |
| Hand Perception Feedback | Joint mode, position, velocity, torque, temperature, voltage/current, sensor pressure value, sensor temperature value, IMU data |
| 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 E Humanoid Robot (mobile base)
- Dex5-1P Tactile Five-Finger Dexterous Hands 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 E adds pressure sensing to five-finger dexterous 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° HFOV, –40°C to +85°C) |
| 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 E Humanoid Robot Silver
SKU:
H2-D-Ultimate-E
- Regular price
- $92,800.00
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- $92,800.00
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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
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