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Description
Unitree Robotics — H2-D Ultimate Series
Unitree H2-D Ultimate I
Mobile Dual-Arm Humanoid Robot with Inspire E2 Dexterous Hands (With Tactile) & Dual Intel Core i5/i7 Compute. 32 DOF, 5-finger 6-DOF hands with 12 joints, 17 tactile sensors, sub-millimeter repeatability, LiDAR + depth camera navigation, 1.5 m/s max speed, 0.5 m vertical lift, binocular vision & full-stack open SDK.
H2-D Ultimate I — mobile dual-arm humanoid with Inspire E2 tactile dexterous hands, differential-drive chassis with LiDAR navigation
32
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 I features Inspire E2 dexterous hands with tactile sensing — a precision-engineered five-finger hand platform with sub-millimeter repeatability and 17 tactile sensors per hand designed for high-accuracy manipulation research with force feedback. Each hand delivers 6 active DOF across 12 joints with a repeatability of ±0.20 mm, enabling precise pick-and-place, assembly, and delicate object handling with tactile awareness. The thumb achieves a max grip force of 30 N while the four fingers reach 28 N each. The 17 tactile sensors (range 0–30 N, accuracy ≤5% FS) provide real-time pressure feedback across the palm and fingertips. Palm closing time is 0.8 s for rapid grasp execution. The thumb side/flex speed exceeds 130°/s, and four-finger flexion speed exceeds 200°/s for responsive manipulation. 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 32-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 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.
✓ Inspire E2 Dexterous Hands with Tactile (×2)
6-DOF per hand across 12 joints. ±0.20 mm repeatability. Thumb max grip force 30 N, four-finger max grip force 28 N. 17 tactile sensors per hand (range 0–30 N, accuracy ≤5% FS). Palm closing time 0.8 s. Thumb side/flex speed >130°/s, four-finger flexion speed >200°/s. Power: 24V±10% (static 0.25A, max 4A). Includes wrist RGB camera (FOV D:130°/H:120°/V:81°, 1920×1080).
✓ 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 I 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.
Inspire E2 Dexterous Hands — Tactile-Enhanced Precision
The Inspire E2 is a tactile-enhanced five-finger dexterous hand designed for high-accuracy manipulation research with real-time force feedback. Each hand delivers 6 active DOF distributed across 12 joints — providing fine independent finger control with a remarkable ±0.20 mm repeatability. The thumb achieves a max grip force of 30 N while the four fingers reach 28 N each, enabling robust grasping of a wide range of objects. The 17 tactile sensors per hand (range 0–30 N, accuracy ≤5% FS) deliver real-time pressure, contact, and slip detection across the palm and fingertips for closed-loop force control and delicate object handling. Palm closing time is 0.8 s for rapid grasp execution. With thumb side/flex speed exceeding 130°/s and four-finger flexion speed exceeding 200°/s, the E2 delivers responsive motion for dynamic manipulation tasks. Each hand includes an RGB wrist camera with a 130° diagonal FOV and 1920×1080 resolution for visual servoing and close-up inspection. Power: 24V±10% (static 0.25A, max 4A).
6
DOF per Hand
12
Joints per Hand
±0.20mm
Repeatability
17
Tactile Sensors
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 I 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 E2 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 I 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 I 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 Inspire E2 hands with sub-millimeter repeatability, 17 tactile sensors per hand, and robust grip forces enable research in tactile-aware manipulation, precision assembly, delicate object handling, closed-loop force control, slip detection, and high-accuracy grasp planning on a mobile humanoid platform. 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 I introduces Inspire E2 tactile dexterous 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 Inspire E2 tactile dexterous hands. Upgrade to BrainCo Revo 3 U21/U21T/U21VT for 21-DOF hyper-dexterity, or WUJI Hand 2 for advanced dexterous manipulation.
- 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-Enhanced Precision Manipulation
Inspire E2 hands with 6-DOF, 12 joints, ±0.20 mm repeatability, 17 tactile sensors per hand, and 30 N thumb grip force enable tactile-aware assembly, closed-loop force control, slip detection, and precision grasp planning research on a mobile humanoid platform.
Embodied AI & Mobile Manipulation
32 DOF with dual Intel compute, ROS 2 native support, tactile-enhanced five-finger hands, and a full sensor suite create an ideal platform for embodied intelligence, tactile-aware mobile manipulation, and human-robot interaction research.
Service & Commercial Robotics
Voice interaction, autonomous navigation, tactile-enhanced five-finger dexterous hands, and a humanoid appearance make H2-D Ultimate I suitable for reception, guidance, object handling, and hospitality applications in commercial environments.
Technical Specifications
| Model | Unitree H2-D Ultimate I (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) | 32 (Arm 7x2, Waist 1, Head 2, Column 1, Chassis 2, E2 Hand 6x2) |
| 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 | Inspire E2 Dexterous Hands with Tactile (both arms, pre-installed) with RGB wrist cameras |
| Hand DOF | 6 per hand (12 joints total) |
| Hand Joints | 12 per hand |
| Hand Repeatability | ±0.20 mm |
| Thumb Max Grip Force | 30 N |
| Four-Finger Max Grip Force | 28 N |
| Hand Tactile Sensors | 17 per hand (range 0–30 N, accuracy ≤5% FS) |
| Palm Closing Time | 0.8 s |
| Thumb Side/Flex Speed | >130 degrees/s |
| Four-Finger Flexion Speed | >200 degrees/s |
| Hand Power | 24V±10% (static 0.25A, max 4A) |
| Hand Weight | 800 g per hand |
| Wrist Camera | RGB per hand - 1920x1080, FOV D:130 degrees / H:120 degrees / V:81 degrees |
| 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 I Humanoid Robot (mobile base)
- Inspire E2 Dexterous Hands with Tactile and 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 I introduces Inspire E2 tactile 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 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 I
Mobile Dual-Arm Humanoid Robot with Inspire E2 Dexterous Hands (With Tactile) & Dual Intel Core i5/i7 Compute. 32 DOF, 5-finger 6-DOF hands with 12 joints, 17 tactile sensors, sub-millimeter repeatability, LiDAR + depth camera navigation, 1.5 m/s max speed, 0.5 m vertical lift, binocular vision & full-stack open SDK.
H2-D Ultimate I — mobile dual-arm humanoid with Inspire E2 tactile dexterous hands, differential-drive chassis with LiDAR navigation
32
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 I features Inspire E2 dexterous hands with tactile sensing — a precision-engineered five-finger hand platform with sub-millimeter repeatability and 17 tactile sensors per hand designed for high-accuracy manipulation research with force feedback. Each hand delivers 6 active DOF across 12 joints with a repeatability of ±0.20 mm, enabling precise pick-and-place, assembly, and delicate object handling with tactile awareness. The thumb achieves a max grip force of 30 N while the four fingers reach 28 N each. The 17 tactile sensors (range 0–30 N, accuracy ≤5% FS) provide real-time pressure feedback across the palm and fingertips. Palm closing time is 0.8 s for rapid grasp execution. The thumb side/flex speed exceeds 130°/s, and four-finger flexion speed exceeds 200°/s for responsive manipulation. 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 32-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 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.
✓ Inspire E2 Dexterous Hands with Tactile (×2)
6-DOF per hand across 12 joints. ±0.20 mm repeatability. Thumb max grip force 30 N, four-finger max grip force 28 N. 17 tactile sensors per hand (range 0–30 N, accuracy ≤5% FS). Palm closing time 0.8 s. Thumb side/flex speed >130°/s, four-finger flexion speed >200°/s. Power: 24V±10% (static 0.25A, max 4A). Includes wrist RGB camera (FOV D:130°/H:120°/V:81°, 1920×1080).
✓ 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 I 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.
Inspire E2 Dexterous Hands — Tactile-Enhanced Precision
The Inspire E2 is a tactile-enhanced five-finger dexterous hand designed for high-accuracy manipulation research with real-time force feedback. Each hand delivers 6 active DOF distributed across 12 joints — providing fine independent finger control with a remarkable ±0.20 mm repeatability. The thumb achieves a max grip force of 30 N while the four fingers reach 28 N each, enabling robust grasping of a wide range of objects. The 17 tactile sensors per hand (range 0–30 N, accuracy ≤5% FS) deliver real-time pressure, contact, and slip detection across the palm and fingertips for closed-loop force control and delicate object handling. Palm closing time is 0.8 s for rapid grasp execution. With thumb side/flex speed exceeding 130°/s and four-finger flexion speed exceeding 200°/s, the E2 delivers responsive motion for dynamic manipulation tasks. Each hand includes an RGB wrist camera with a 130° diagonal FOV and 1920×1080 resolution for visual servoing and close-up inspection. Power: 24V±10% (static 0.25A, max 4A).
6
DOF per Hand
12
Joints per Hand
±0.20mm
Repeatability
17
Tactile Sensors
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 I 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 E2 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 I 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 I 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 Inspire E2 hands with sub-millimeter repeatability, 17 tactile sensors per hand, and robust grip forces enable research in tactile-aware manipulation, precision assembly, delicate object handling, closed-loop force control, slip detection, and high-accuracy grasp planning on a mobile humanoid platform. 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 I introduces Inspire E2 tactile dexterous 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 Inspire E2 tactile dexterous hands. Upgrade to BrainCo Revo 3 U21/U21T/U21VT for 21-DOF hyper-dexterity, or WUJI Hand 2 for advanced dexterous manipulation.
- 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-Enhanced Precision Manipulation
Inspire E2 hands with 6-DOF, 12 joints, ±0.20 mm repeatability, 17 tactile sensors per hand, and 30 N thumb grip force enable tactile-aware assembly, closed-loop force control, slip detection, and precision grasp planning research on a mobile humanoid platform.
Embodied AI & Mobile Manipulation
32 DOF with dual Intel compute, ROS 2 native support, tactile-enhanced five-finger hands, and a full sensor suite create an ideal platform for embodied intelligence, tactile-aware mobile manipulation, and human-robot interaction research.
Service & Commercial Robotics
Voice interaction, autonomous navigation, tactile-enhanced five-finger dexterous hands, and a humanoid appearance make H2-D Ultimate I suitable for reception, guidance, object handling, and hospitality applications in commercial environments.
Technical Specifications
| Model | Unitree H2-D Ultimate I (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) | 32 (Arm 7x2, Waist 1, Head 2, Column 1, Chassis 2, E2 Hand 6x2) |
| 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 | Inspire E2 Dexterous Hands with Tactile (both arms, pre-installed) with RGB wrist cameras |
| Hand DOF | 6 per hand (12 joints total) |
| Hand Joints | 12 per hand |
| Hand Repeatability | ±0.20 mm |
| Thumb Max Grip Force | 30 N |
| Four-Finger Max Grip Force | 28 N |
| Hand Tactile Sensors | 17 per hand (range 0–30 N, accuracy ≤5% FS) |
| Palm Closing Time | 0.8 s |
| Thumb Side/Flex Speed | >130 degrees/s |
| Four-Finger Flexion Speed | >200 degrees/s |
| Hand Power | 24V±10% (static 0.25A, max 4A) |
| Hand Weight | 800 g per hand |
| Wrist Camera | RGB per hand - 1920x1080, FOV D:130 degrees / H:120 degrees / V:81 degrees |
| 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 I Humanoid Robot (mobile base)
- Inspire E2 Dexterous Hands with Tactile and 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 I introduces Inspire E2 tactile 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 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 I Humanoid Robot Silver
SKU:
H2-D-Ultimate-I
- Regular price
- $79,500.00
- Sale price
- $79,500.00
- Regular price
-
- Unit price
- per
Shipping calculated at checkout.
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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$79 500
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