H2-D Standard E — wheeled dual-arm humanoid with Dex5-1P tactile five-finger dexterous hands, 2-DOF column with 0.5 m vertical travel, 94 pressure sensors per hand

What's in This Configuration

The H2-D Standard E upgrades to Dex5-1P tactile five-finger dexterous hands — delivering 16-DOF anthropomorphic manipulation with 94 pressure sensors per hand for unprecedented haptic feedback on the wheeled H2-D base. It combines a 2-DOF motorized column (0.5 m vertical travel + 90° base rotation) with dual 7-DOF arms, a 1-DOF waist (0°–115° pitch), and a 2-DOF head to deliver a 51-DOF manipulation system. Each Dex5-1P hand features 16 active DOF (thumb 4-DOF, each other finger 3-DOF) with 12 micro force-controlled compound joints and 4 micro force-controlled gear joints, achieving ±1 mm repeatability and 10 N fingertip force at 1000 Hz control frequency. The integrated 12 single-body array sensors per hand — distributed across palm (2×5), finger pads (2×3×5), fingertips (2×3×5), and finger bases (2×3×4) — provide a sensing range of 10 g to 2500 g with a maximum non-destructive force of 20 kg. At 135 kg with external power for 24/7 operation, H2-D Standard E is the ultimate platform for tactile-aware anthropomorphic dexterous manipulation research.

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

The H2-D Standard 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 features a 20-DOF humanoid architecture, multimodal perception, and an open development framework. Combining industrial-grade reliability, research-oriented openness, and adaptability for commercial deployment, H2-D is a high-performance humanoid platform designed for industrial manipulation, commercial services, robotics research, and embodied AI training.

2-DOF Motorized Column — Expand Your Workspace Vertically

The 2-DOF motorized column provides 0.5 m of vertical travel at speeds up to ~200 mm/s, plus 90° left/right rotation relative to the base. 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 without moving the base. Combined with the 1-DOF waist (0°–115° pitch) and 7-DOF arms, H2-D achieves a full spherical workspace spanning from ground to 2 m height — ideal for warehouse logistics, assembly lines, and service robotics.

Dex5-1P Tactile Five-Finger Hands — See, Feel & Grasp With Precision

The Dex5-1P is a 16-DOF five-finger dexterous hand engineered for tactile-aware anthropomorphic precision manipulation. Building on the Dex5-1 platform, it adds an extensive tactile sensor array with 12 single-body array sensors per hand, totaling 94 pressure sensors. The array configuration includes 2×5 sensors on the palm, 2×3 sensors on each finger pad (×5 fingers), 2×3 sensors on each fingertip (×5 fingers), and 2×3 sensors on each finger base (×4 fingers). This comprehensive tactile feedback enables unprecedented sensitivity for delicate object handling, texture recognition, and force-sensitive tasks.

The tactile sensors feature a sensing range of 10 g to 2500 g with a maximum non-destructive force of 20 kg, delivering rich haptic feedback for everything from picking up a single grape to gripping heavy tools. With 4-DOF on the thumb and 3-DOF on each of the other four fingers, the hand achieves human-like finger articulation for power grasps, precision pinches, and in-hand manipulation. ±1 mm repeatability and 10 N fingertip force deliver industrial-grade precision, while the 1000 Hz communication rate ensures responsive real-time control. The wide joint range — thumb J0: -33.5°~39°, J1: 0°~100°, J2: 0°~110°, J3: 0°~92°; fingers J0: -22°~22°, J1: 0°~90°, J2: 0°~95°, J3: 0°~81° (coupled) — enables natural, fluid grasping motions. Operating at 24–60V over USB2.0 with a -20°C ~ 60°C temperature range, the Dex5-1P supports up to 3.5 kg palm-down load and 4.5 kg palm-left load. Each hand includes a wrist RGB camera for close-up visual feedback and grasp verification.

Rich perception feedback includes joint mode, joint position, joint velocity, joint torque, joint temperature, voltage/current, sensor pressure value, sensor temperature value, and IMU data — giving researchers complete observability for reinforcement learning, teleoperation, and embodied AI research.

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 2-DOF column and 7-DOF arms, H2-D 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 Standard 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.

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 Dex5-1P wrist cameras add close-up visual feedback for precision grasping and finger tracking, complementing the 94 pressure sensors for visuo-tactile fusion and multimodal perception research.

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. 24/7 Ready.

At 1200–1700 × 576 × 620 mm (height adjustable) and approximately 135 kg, the H2-D Standard E is a substantial industrial workstation. The fixed base supports in-place Z-axis rotation for flexible positioning. Power via the included external power supply for 7×24 continuous operation — the base contains two quick-swap batteries for energy storage and back-EMF absorption, but actual operation requires direct charging.

 

Biomimetic Design & Full-Body Mobility: a 2-DOF waist and whole-body coordinated motion extend the operating workspace from floor level to a height of 2 m, enabling flexible manipulation across the entire workspace.

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 Standard E a clean slate for reinforcement learning, teleoperation research, and embodied AI. The dual Intel compute handles model training and inference without external hardware. The Dex5-1P's rich tactile feedback stream — 94 pressure values, sensor temperatures, and IMU data per hand — provides the dense sensory input needed for cutting-edge tactile-aware AI research.

Upgrade Path — Grow With Your Research

Standard A is the entry point with parallel grippers. Standard B adds three-finger dexterous grasping. Standard C enriches it with tactile sensing. Standard D upgrades to five-finger 16-DOF anthropomorphic manipulation. Standard E adds 94 pressure sensors per hand for full tactile awareness. Every configuration shares the same H2-D wheeled base — the difference is the end effector. Upgrade your capabilities as your research evolves:

• End Effectors — Already at Dex5-1P tactile five-finger 16-DOF with 94 pressure sensors per hand. The pinnacle of H2-D dexterous manipulation. Swap to BrainCo Revo 2/3 series, Inspire Robots RH56DFQ/E2, or WUJI Hand 2 for specialized research.
• Wrist Cameras — Already included with Dex5-1P. 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.
• Power — External PSU included as standard for 7×24 operation. Base batteries are for energy storage and back-EMF absorption only.

Designed For

Technical Specifications