H2-D Standard M — wheeled dual-arm humanoid with WUJI Dexterous Hand 2, 2-DOF column with 0.5 m vertical travel

What's in This Configuration

The H2-D Standard M features WUJI Dexterous Hand 2 (no tactile) — a high-performance 20-DOF five-finger dexterous hand built on direct-drive rotary joints with MIT Force/Position Hybrid Control at an industry-leading 1000 Hz across 20 axes. 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 59-DOF manipulation system. Each WUJI Hand 2 achieves ≥15 N fingertip peak force with ≥4 times/s open/close speed, <1° joint backlash, and back-drivable direct-drive kinematics for natural, compliant interaction. Operating at 16–58 V DC over EtherNet (1000BASE-T), it supports full opposition grasping with lateral swing and a minimum grasp diameter of 0 for precision pinching. The included RGB wrist cameras feature 1920×1080 resolution with a 130° diagonal FOV for close-up visual feedback. At 135 kg with external power for 24/7 operation, H2-D Standard M is the ultimate platform for high-frequency dexterous manipulation, teleoperation, and embodied AI research.

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

The H2-D Standard M 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.

WUJI Dexterous Hand 2 — High-Frequency Direct-Drive Dexterity

The WUJI Dexterous Hand 2 is a 20-DOF five-finger dexterous hand built on a direct-drive rotary joint architecture with back-drivable kinematics — delivering natural, compliant, and highly responsive manipulation. At just 185 × 80 × 40 mm (frame), it packs 20 active degrees of freedom into an ultra-compact footprint, achieving full opposition grasping with lateral swing support and a minimum grasp diameter of 0 for true precision pinching.

The hand runs MIT Force/Position Hybrid Control at an exceptional 1000 Hz across all 20 axes — more than double the control frequency of typical dexterous hands — enabling ultra-responsive real-time manipulation, precise force modulation, and seamless teleoperation. Each fingertip delivers ≥15 N peak force with ≥4 times/s open/close speed and <1° joint backlash for repeatable, high-fidelity motion. Operating at 16–58 V DC over EtherNet (1000BASE-T), it integrates cleanly into modern robotics networks with low-latency, high-bandwidth communication. The included RGB wrist cameras provide 1920×1080 resolution with a 130° diagonal FOV (H:120° / V:81°) for close-up visual feedback during precision tasks.

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 M 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 RGB wrist cameras add close-up visual feedback for precision grasping and finger tracking at 1920×1080 resolution with a 130° diagonal FOV.

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 M 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 M a clean slate for reinforcement learning, teleoperation research, and embodied AI. The dual Intel compute handles model training and inference without external hardware. The 20-DOF WUJI Hand 2 with 1000 Hz MIT hybrid control and back-drivable direct-drive joints unlocks entirely new research directions in high-frequency dexterous manipulation, teleoperation, and force-aware interaction.

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. Standard L takes it further with the Revo 3 U21VT — visuo-tactile fusion sensing with 0.01 N resolution and 130 µm deformation sensitivity. Standard M introduces the WUJI Dexterous Hand 2 — a 20-DOF five-finger hand with 1000 Hz MIT Force/Position Hybrid Control, direct-drive back-drivable joints, and EtherNet communication for the ultimate in high-frequency dexterous 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 WUJI Dexterous Hand 2 20-DOF. Upgrade to the tactile-enabled variant for force-aware manipulation research.
• Wrist Cameras — Already included with RGB wrist cameras per hand (1920×1080, FOV D:130°/H:120°/V:81°). 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.
• 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

What's in the Box

• Unitree H2-D Standard M Humanoid Robot (wheeled base)
• WUJI Dexterous Hand 2 (No Tactile) with RGB wrist cameras (pre-installed, both arms)
• Intel Core i5 platform compute module (PC1, pre-installed)
• Intel Core i7 development compute module (PC2, pre-installed)
• External power supply & AC cable
• Binocular vision head module (pre-installed)
• Array microphone + high-power speaker module (pre-installed)
• Handheld remote controller
• Quick-start guide & safety manual
• Secondary development documentation access

H2-D Configuration Guide

Standard A is the entry point. Every configuration shares the same H2-D wheeled base — the difference is the end effector. Choose the one that matches your research goals:

* Specifications are based on manufacturer data and may vary slightly by production batch. Optional compute modules and alternative end effectors sold separately.
Unitree® is a registered trademark of Unitree Robotics. Images are for reference; actual product appearance may differ.
Users must maintain a sufficient safety distance. This is a civilian robot — comply with local laws and regulations.