Unitree H2-D Standard I
- Dual-arm semi humanoid robot with a vertical lift column on a manual-move chassis for industrial, commercial, research and embodied AI use
- Variant: Unitree H2-D Standard I with Inspire E2 five-finger hand with 17 tactile sensors – 31 DOF in total
- Other variants: A Dex1-1 gripper; B Dex3-1 3-finger; C Dex3-1 tactile; D Dex5-1 5-finger; E Dex5-1P tactile; F Revo 2 Basic; G Revo 2 Touch; H Inspire DFQ; J Revo 3 U21; K Revo 3 U21T; L Revo 3 U21VT; M WUJI Hand 2
- Inspire E2: 6 DOF, 12 joints, 17 tactile sensors (0–30N), thumb 30N and four-finger 28N fingertip grip force, 0.8s palm closing time
- 19 DOF body: arms 7×2, waist 1 (pitch 0°–115°), head 2, column 2 (vertical lift + ±90° rotation); 1200–1700mm column height range, 576×620mm footprint, 135kg with battery
- Rated 7kg arm payload (peak about 15kg), about 0.62m reach with a two-finger gripper, 0.5m lift stroke at up to about 200mm/s
- Intel Core i5 plus i7 compute, optional Jetson Thor or Orin NX, binocular head camera, wrist RGB cameras (1920×1080), WiFi 6, Bluetooth 5.2
- External power with 7×24H direct charging (base has no autonomous movement), handheld remote, OTA updates, secondary development
- Trusted dealerDirect manufacturer partnership
- Pan-India deliveryInsured shipping, all states
- Post-sale supportTraining + service included
What makes it work
Unitree H2-D Standard I Dual-Arm Semi Humanoid Robot
Redefining Industrial Mobile Manipulation
From Research Labs to Production Lines — Accelerating the Large-Scale Deployment of Semi Humanoid Robotics
Manual-Move ChassisVertical Lift ColumnInspire E231 DOF Total
H2-D Standard — Manual-Move Chassis
The H2-D Standard pairs the dual-arm semi humanoid upper body with a vertical lift column on a manual-move chassis, designed for industrial operations, commercial services, research and development, and embodied intelligence training.
Configurable as a precision workstation for diverse production environments.
High-Performance Embodied AI Platform
Fully In-House Technology Stack
From self-developed actuators and force-controlled joints to motion control algorithms, the robot features an in-house technology stack with tightly integrated hardware and software. Supports secondary development and system customization for rapid deployment across industrial, commercial and research applications.
Multi-DOF Agile Motion
Featuring multiple highly integrated force-controlled joints, the robot supports vertical lift and body pitch while maintaining outstanding stability in confined and complex environments.
Multimodal Perception
Integrates vision, force feedback and voice interaction to build a multimodal perception system, enabling intelligent environmental awareness and natural human–robot interaction.
Biomimetic Design & Full-Body Mobility
Mechanical Performance & Flexible Deployment
Supports a rated payload of up to 7 kg per arm, enabling efficient handling and assembly of heavy industrial components.
Manual-Move Chassis. Configurable as a precision workstation for diverse production environments.
Expanded Workspace & Flexible Reach
By utilizing waist pitch adjustment, column vertical lift and whole-body coordination algorithms, the robot's operational workspace is extended, enabling flexible manipulation within a height range from ground level up to 2 meters.
Flexible Posture with Agile Pitch Motion
Supporting 0–115° body pitch, the robot adapts to floor-level picking and overhead handling while providing a natural and ergonomic operating experience.
Multimodal Perception & Natural Interaction
Integrating binocular vision with natural language interaction, the robot enables intuitive and natural human–robot collaboration.
Multi-Type End Effectors & Flexible Adaptation
Supports multiple end-effectors including grippers, three-finger hands and five-finger dexterous hands. Quick-change design enables rapid adaptation to different precision requirements and workload conditions.
This version: Inspire E2 five-finger dexterous hand (with tactile sensing).
Open Development & Rapid Deployment
Comprehensive SDKs and APIs enable developers to focus on application innovation while reducing development cycles from months to weeks.
H2-D Standard I — Version Highlights
Inspire E2 five-finger dexterous hand (with tactile sensing) — includes all functions of H2-D Standard A.
| End Effector | Inspire E2 five-finger dexterous hand, with tactile sensing (with wrist camera) |
|---|---|
| DOF per Hand | 6 |
| Number of Joints | 12 |
| Weight | 790g ±10g |
| Operating Voltage | 24V ±10% |
| Static Current | 0.25A |
| Max Current | 4A |
| Fingertip Repeat Positioning Accuracy | ±0.20mm |
| Fingertip Gripping Force | Thumb 30N, four fingers 28N |
| Thumb Side-Swing Speed | >130°/s |
| Thumb Flexion Speed | >130°/s |
| Four-Finger Flexion Speed | >200°/s |
| Tactile Sensor Range | 0–30N |
| Tactile Sensor Accuracy | ≤5%FS |
| Number of Tactile Sensors | 17 |
| Palm Closing Time | 0.8s |
| Wrist RGB Camera | FOV D 130° / H 120° / V 81°, resolution 1920×1080 |
| Total DOF | 31 (7×2 (arms) + 1 (waist) + 2 (head) + 2 (column) + 6×2 end-effector) |
Technical Specifications — H2-D Standard I
| Overall Dimensions | 1200×576×620mm (min. column height) / 1700×576×620mm (max. column height) |
|---|---|
| Weight (incl. battery) | 135kg |
| DOF (excl. end-effector) | 19 (arms 7×2 + waist 1 + head 2 + column 2) |
| DOF (incl. end-effector) | 31 (7×2 (arms) + 1 (waist) + 2 (head) + 2 (column) + 6×2 end-effector) |
| Arm DOF (excl. end-effector) | 7 per arm |
| Waist DOF | 1 (bending / pitch) |
| Head DOF | 2 |
| Column DOF | 2 (vertical lift + ±90° left/right rotation at the base) |
| Waist Range of Motion | Pitch 0°–115° |
| Single-Arm Max Load | ~7kg (rated); peak ~15kg |
| Single-Arm Reach (with two-finger gripper) | ~0.62m |
| Lift Speed | Up to ~200mm/s |
| Lift Stroke | 0.5m |
| Joint Output Bearing | Industrial-grade cross-roller bearing (high precision, high load-carrying capacity) |
| Joint Motor | Low-inertia high-speed inner-rotor permanent magnet synchronous motor (enhanced dynamic response and thermal performance) |
| Max Arm Joint Torque | 120N·m |
| Overall Material | Aerospace-grade aluminum, titanium alloy and high-strength engineering plastics |
| PC1 | Intel Core i5 (platform functions) |
|---|---|
| PC2 | Intel Core i7 (user development) |
| PC3 | Empty slot, similar to B2 card-slot form (optional NVIDIA Jetson Thor ×1, available for a fee) |
| PC4 | Empty slot, similar to B2 card-slot form (optional Intel Core i7 ×1 or NVIDIA Jetson Orin NX ×1, available for a fee) |
| High-Performance Computing Module | Multiple brands and models available, such as Thor |
| Head Camera | Wide-angle semi humanoid binocular camera ×1 |
| Wrist Cameras | Wrist HD camera ×2 |
| Voice Interaction | Microphone array and high-power speaker for natural voice interaction |
| Wireless | WiFi 6, Bluetooth 5.2 |
| Cooling | Air cooling |
| Base | Does not support autonomous movement; supports in-place Z-axis rotation (±90°) |
|---|---|
| Power Supply | Standard external power supply; the upper body cannot hold batteries |
| Base Batteries | 2 swappable base batteries for energy storage / back-EMF only (short endurance); quick-release base battery 48V/18Ah (864Wh) |
| Direct Power Supply | 7×24 hours |
| End Effector | Inspire E2 five-finger dexterous hand, with tactile sensing (with wrist camera) |
|---|---|
| DOF per Hand | 6 |
| Number of Joints | 12 |
| Weight | 790g ±10g |
| Operating Voltage | 24V ±10% |
| Static Current | 0.25A |
| Max Current | 4A |
| Fingertip Repeat Positioning Accuracy | ±0.20mm |
| Fingertip Gripping Force | Thumb 30N, four fingers 28N |
| Thumb Side-Swing Speed | >130°/s |
| Thumb Flexion Speed | >130°/s |
| Four-Finger Flexion Speed | >200°/s |
| Tactile Sensor Range | 0–30N |
| Tactile Sensor Accuracy | ≤5%FS |
| Number of Tactile Sensors | 17 |
| Palm Closing Time | 0.8s |
| Wrist RGB Camera | FOV D 130° / H 120° / V 81°, resolution 1920×1080 |
| Handheld Remote Controller | Yes |
|---|---|
| Smart OTA Update | Yes |
| Secondary Development | Yes |
| Warranty | 12 Months |
Frequently Asked Questions
What is the H2-D Standard I?
The H2-D Standard I is a dual-arm semi humanoid robot on a manual-move chassis with a vertical lift column, fitted with Inspire E2 five-finger dexterous hand (with tactile sensing), with wrist cameras. It includes all functions of H2-D Standard A. Tactile sensing: Yes (17 sensors).
What are the dimensions and weight of the H2-D Standard I?
It measures 1200×576×620mm at minimum column height and 1700×576×620mm at maximum column height, and weighs 135kg including the battery.
How many degrees of freedom does the H2-D Standard I have?
Excluding the end-effector it has 19 DOF (arms 7×2, waist 1, head 2, column 2). The column provides vertical lift and ±90° left/right rotation. With the 6-DOF end-effector on each side, the total is 31 DOF.
What payload, reach and lift does the H2-D Standard I offer?
Each arm has a rated load of about 7kg (peak about 15kg) with a reach of about 0.62m with a two-finger gripper. The waist pitches from 0° to 115°, and the lift column has a 0.5m stroke at up to about 200mm/s.
How is the H2-D Standard I powered, and does the base move on its own?
The base does not support autonomous movement; it supports in-place Z-axis rotation. It runs on a standard external power supply (7×24H direct charging) because the upper body cannot hold batteries; the two swappable base batteries are for energy storage / back-EMF only. It supports secondary development and smart OTA updates, includes a handheld remote controller and carries a 12-month warranty.
The full sheet
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