H2-A Standard I — upper-body humanoid with Inspire DFQ five-finger dexterous hands, 6 DOF + 12 joints per hand

What's in This Configuration

The H2-A Standard I introduces the Inspire E2 tactile five-finger dexterous hand — a robust end effector combining 6 DOF per hand with 17 tactile sensors for multi-modal touch-aware manipulation. The E2 achieves ±0.20 mm fingertip repeatability with powerful 30 N thumb grip force and 28 N four-finger grip force — significantly higher than the DFQ baseline. Actuation speeds reach >130°/s thumb lateral swing, >130°/s thumb flexion, and >200°/s four-finger flexion with a rapid 0.8 s palm closing time. The 17 tactile sensors (0–30 N range, ≤5% FS accuracy) provide real-time contact force feedback for slip detection, grip optimization, and texture discrimination. At 790 g per hand and 24V operation, the E2 is built for demanding research and industrial prototyping. The integrated wrist RGB camera adds visual confirmation for multimodal grasp verification. At 31 total DOF with full tactile sensing, Standard I is the power-user choice for tactile-aware manipulation research.

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

The H2-A Standard 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 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.

Inspire E2 Tactile Five-Finger Dexterous Hands — Feel What You Grasp

The Inspire E2 is a 6-DOF five-finger dexterous hand with integrated tactile sensing engineered for power and touch-aware manipulation research. It combines 17 tactile sensors per hand (0–30 N range, ≤5% FS accuracy) with substantial grip force — 30 N on the thumb and 28 N on the four fingers — for robust object handling and force-controlled tasks. The hand achieves ±0.20 mm fingertip repeatability with responsive actuation: >130°/s thumb lateral swing, >130°/s thumb flexion, and >200°/s four-finger flexion, closing the palm in just 0.8 seconds. At 790 g and operating on 24V (0.25A quiescent, 4A max), the E2 is built for continuous research and industrial prototyping. The integrated wrist RGB camera provides complementary visual feedback, while the tactile array enables real-time slip detection, grip force optimization, and texture-based object recognition.

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 Inspire E2 tactile five-finger dexterous 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 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.

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 Inspire E2 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 I 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 I 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

Standard I adds full tactile sensing with high grip force. Further upgrade your research capabilities:

• End Effectors — Upgrade to Revo 3 U21 (21-DOF), Revo 3 U21T (tactile), Revo 3 U21VT (visuo-tactile), LinkerBot Hand O6, WUJI Hand 2, or other dexterous hands.
• Wrist Cameras — Already included with Inspire E2. 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