H2-D Standard K — wheeled dual-arm humanoid with Revo 3 U21T tactile five-finger dexterous hands, 2-DOF column with 0.5 m vertical travel

What's in This Configuration

The H2-D Standard K features BrainCo Revo 3 U21T tactile five-finger dexterous hands — combining an unprecedented 21-DOF per hand with full-palm tactile sensing for the ultimate in tactile-aware hyper-dexterous manipulation 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 61-DOF manipulation system. Each U21T hand achieves 70 N grip force and 20 N pinch force with 3 Hz open/close speed and 500 Hz control frequency, operating at 12–80 V. The included Senyun SHF3L wrist cameras feature a 196° HFOV, 1920×1536 @ 30 fps resolution, RGGB sensor with built-in ISP, and extreme temperature resilience from –40°C to +85°C. At 135 kg with external power for 24/7 operation, H2-D Standard K is the ultimate platform for tactile-aware high-DOF dexterous manipulation and embodied AI research.

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

The H2-D Standard K 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.

BrainCo Revo 3 U21T Tactile Five-Finger Hands — Feel, Grasp & Interact

The BrainCo Revo 3 U21T is a 21-DOF five-finger dexterous hand with integrated full-palm tactile sensing — representing the pinnacle of tactile-aware anthropomorphic end-effector design. With 21 active degrees of freedom per hand (4 fingers ×4 + thumb 5), it achieves human-level finger articulation for power grasps, precision pinches, in-hand manipulation, and adaptive grasping of complex geometries — now with closed-loop tactile feedback across the entire palm and fingertips.

The hand delivers 70 N grip force and 20 N pinch force with 3 Hz open/close speed, operating at a wide 12–80 V range with 500 Hz control frequency for responsive real-time manipulation. Each hand ships with a Senyun SHF3L wrist camera — an ultra-compact vision module weighing <50 g at 25×25×33.54 mm, featuring a 196° HFOV ultra-wide lens, 1920×1536 @ 30 fps resolution, RGGB sensor with built-in ISP, and YUV422 8-bit output. Designed for extreme environments with an operating temperature range of –40°C to +85°C and rolling shutter architecture, it is fully compatible with NVIDIA Jetson AGX Thor for edge AI vision processing.

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 K 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. The SHF3L wrist cameras are natively compatible with NVIDIA Jetson AGX Thor for GPU-accelerated visual perception.

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 Senyun SHF3L wrist cameras add ultra-wide 196° HFOV close-up visual feedback for precision grasping and finger tracking, with built-in ISP for real-time image processing. Combined with full-palm tactile sensing, this enables rich 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 K 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 K a clean slate for reinforcement learning, teleoperation research, and embodied AI. The dual Intel compute handles model training and inference without external hardware. The 21-DOF hands with full-palm tactile sensing unlock entirely new research directions in tactile-aware in-hand manipulation, whole-hand grasping, and human-like dexterity.

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. Standard J introduces the BrainCo Revo 3 U21 — a groundbreaking 21-DOF five-finger hand with 70 N grip force and 500 Hz control, paired with Senyun SHF3L ultra-wide wrist cameras. Standard K upgrades to the Revo 3 U21T — the same 21-DOF architecture with full-palm tactile sensing, 70 N grip force, 20 N pinch force, and the same extreme-environment SHF3L cameras. 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 Revo 3 U21T 21-DOF tactile. Upgrade to U21VT (visuo-tactile) or WUJI Hand 2 for specialized dexterous manipulation research.
• Wrist Cameras — Already included with Senyun SHF3L per hand (196° HFOV, 1920×1536 @ 30 fps, –40°C to +85°C). All upgrade hands include wrist RGB cameras for close-up visual feedback.
• Compute Module — Add NVIDIA Jetson Thor (PC3) or Intel Core i7 / Jetson Orin NX (PC4) to unlock massive AI performance for embodied intelligence research. SHF3L cameras are natively compatible with Jetson AGX Thor.
• 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