H2-A Standard D — upper-body humanoid with Dex5-1 five-finger dexterous hands, 16 DOF per hand

What's in This Configuration

The H2-A Standard D introduces full anthropomorphic five-finger dexterity with the Dex5-1 hand — 16 active DOF per hand (thumb ×4, each finger ×3) driven by 12 self-developed micro force-controlled compound joints and 4 micro gear joints. Proprioception without tactile sensors means the hand knows its own joint states, positions, velocities, and torques in real time. With a 10 mm minimum grip diameter, ±1 mm repeatability, and 10 N fingertip force, the Dex5-1 handles everything from delicate precision tasks to robust power grasps. The integrated wrist RGB camera adds visual confirmation. At 51 total DOF, Standard D is the gateway to true human-like hand manipulation research.

Dual 7-DOF Arms. Industrial-Grade Kinematics. Human-Like Dexterity.

The H2-A Standard D 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 600 mm reach 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 down to ±0.1 mm.

Multimodal Perception & Natural Interaction: Integrating binocular vision with natural language interaction, H2-A enables intuitive and natural human–robot collaboration.

Dex5-1 Five-Finger Dexterous Hands — Anthropomorphic Precision

The Dex5-1 is a 16-DOF anthropomorphic dexterous hand that mirrors human hand kinematics for research-grade biomimetic manipulation. Each hand features 4 DOF on the thumb (J0 lateral swing -33.5°~39°, J1 0°~100°, J2 0°~110°, J3 0°~92°) and 3 DOF on each of the four fingers (J0 lateral swing ±22°, J1 0°~90°, J2 0°~95°, J3 0°~81° coupled with J2). The transmission uses 12 self-developed micro force-controlled compound joints for proprioception without external tactile sensors, plus 4 micro force-controlled gear joints for robust power transmission. With ±1 mm repeatability, 10 N fingertip force, and a 10 mm minimum grip diameter, the Dex5-1 excels at precision pinch grasps, power grasps, and in-hand manipulation of objects from tiny screws to medium tools. Full state feedback includes joint mode, position, velocity, torque, temperature, voltage, current, and IMU data at 1000 Hz over USB 2.0.

3-DOF Waist — Expand Your Workspace

The 3-DOF waist joint provides full torso articulation — yaw, pitch, and roll — dramatically expanding the robot's reachable workspace without moving the base. In a seated or standing deployment, the waist allows the robot to turn and manipulate objects on either side, hand objects from one hand to the other across the body, bend forward for floor-level picking, and orient toward humans or workstations. Combined with 7-DOF arms and Dex5-1 five-finger hands, the H2-A achieves human-like reach envelopes that cover a full sphere of workspace — ideal for bimanual manipulation, in-hand reorientation, and human-robot interaction research.

Dual Intel Compute — Power for Control & Development

The H2-A Standard D ships with a built-in dual-compute architecture: PC1 runs an Intel Core i5 for real-time platform functionality and motion control, while PC2 provides an Intel Core i7 dedicated to user development. This separation ensures deterministic robot behavior while giving researchers full freedom to experiment. Optional expansion slots (PC3 for NVIDIA Jetson Thor, PC4 for Intel i7 or Jetson Orin NX) future-proof the platform as your AI ambitions grow.

Binocular Vision & AI Perception

A wide-angle humanoid-style binocular camera head delivers a broad field of view for spatial awareness. Paired with an 8-core high-performance CPU + 10 TOPS NPU in the head module, plus the dual Intel compute in the body, it runs visual perception, object detection, and gesture recognition locally — no cloud required. The Dex5-1 wrist cameras add close-up visual feedback for precision grasping and finger tracking.

Voice Collaboration & Natural Interaction

Array beamforming microphones and high-power speakers enable clear voice capture and synthesis in noisy labs or industrial floors. The open audio framework supports custom wake words, multilingual TTS, and integration with LLMs for conversational command-and-control.

Compact. Industrial-Grade. Desk-Ready.

At just 780 × 444 × 200 mm and approximately 34.4 kg (with battery), the H2-A Standard D fits on a reinforced lab bench or industrial workstation. The compact footprint leaves room for objects, tools, and sensors around the robot. Power via the included upper-body Li-ion battery for ~8 hours of untethered operation, or connect the external power supply for 24/7 continuous use.

Comprehensive SDKs and APIs, together with a mature manipulation and perception software stack, enable developers to focus on application innovation while reducing development cycles from months to weeks.

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-A Standard D a clean slate for reinforcement learning, teleoperation research, and embodied AI. The dual Intel compute handles model training and inference without external hardware.

Upgrade Path — Grow With Your Research

Start with Standard D and expand as your projects evolve. The H2-A platform is fully modular:

• End Effectors — Upgrade to Dex5-1P Tactile (94 pressure sensors), BrainCo Revo 2/3, Inspire Robots DFQ/E2, LinkerBot Hand O6, WUJI Hand 2, or other tendon-driven hands.
• Wrist Cameras — Already included with Dex5-1. All upgrade hands include wrist RGB cameras for close-up visual feedback and grasp verification.
• Compute Module — Add NVIDIA Jetson Thor (PC3) or Intel Core i7 / Jetson Orin NX (PC4) to unlock massive AI performance for embodied intelligence research.
• Upper-Body Battery — Included as standard equipment. Provides ~8 hours of cord-free operation.

Designed For

Technical Specifications