H2-D Standard I — wheeled dual-arm humanoid with RH56E2-T1 tactile five-finger dexterous hands, 2-DOF column with 0.5 m vertical travel

What's in This Configuration

The H2-D Standard I upgrades to Inspire Robots RH56E2-T1 tactile five-finger dexterous hands — delivering 6-DOF anthropomorphic manipulation with 17 tactile sensors per hand for force-aware grasping 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 31-DOF manipulation system. Each RH56E2-T1 hand features 6 active DOF and 12 joints with ±0.20 mm fingertip repeatability, thumb 30 N / four fingers 28 N grip force, and 17 tactile sensors (0–30 N range, ≤5% FS accuracy) for closed-loop force control. At 135 kg with external power for 24/7 operation, H2-D Standard I is the ultimate platform for tactile-aware industrial dexterous manipulation research.

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

The H2-D 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 ~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.

Inspire Robots RH56E2-T1 Tactile Five-Finger Hands — Feel, Grasp & Interact

The Inspire Robots RH56E2-T1 is a 6-DOF five-finger dexterous hand with integrated tactile sensing — engineered for tactile-aware industrial dexterous manipulation. With 12 joints total across five fingers and 17 tactile sensors per hand (0–30 N range, ≤5% FS accuracy), it achieves closed-loop force control for delicate object handling, slip detection, and adaptive grasping. The hand delivers a thumb max grip force of 30 N and four-finger max grip force of 28 N with ±0.20 mm fingertip repeatability — enabling both powerful and precise manipulation.

The thumb achieves side/flex speed >130°/s while the four fingers reach >200°/s flexion speed — enabling fast, fluid grasping motions with a palm closing time of just 0.8 s. Each hand weighs 800 g and operates at 24V±10% (static 0.25A, max 4A). The integrated wrist RGB camera provides close-up visual feedback for grasp verification, supporting visuo-motor coordination and tactile-visual fusion 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 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 RH56E2-T1 wrist cameras add close-up visual feedback for precision grasping and finger tracking, complementing the 17 tactile sensors for multi-modal 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 I 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 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 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. Standard F introduces the BrainCo Revo 2 Basic. Standard G upgrades to the Revo 2 Touch with multi-modal tactile sensing. Standard H features the Inspire Robots RH56DFQ — a 6-DOF 12-joint five-finger hand with industrial-grade precision and high-speed actuation. Standard I adds tactile sensing with the RH56E2-T1 — 17 tactile sensors per hand for closed-loop force-aware manipulation. 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 RH56E2-T1 tactile 6-DOF. Upgrade to Revo 3 U21 (21-DOF), Revo 3 U21T/U21VT (tactile/visuo-tactile), or WUJI Hand 2 for specialized dexterous manipulation research.
• Wrist Cameras — Already included with RH56E2-T1. 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