H2-D Ultimate I — mobile dual-arm humanoid with Inspire E2 tactile dexterous hands, differential-drive chassis with LiDAR navigation

What's in This Configuration

The H2-D Ultimate I features Inspire E2 dexterous hands with tactile sensing — a precision-engineered five-finger hand platform with sub-millimeter repeatability and 17 tactile sensors per hand designed for high-accuracy manipulation research with force feedback. Each hand delivers 6 active DOF across 12 joints with a repeatability of ±0.20 mm, enabling precise pick-and-place, assembly, and delicate object handling with tactile awareness. The thumb achieves a max grip force of 30 N while the four fingers reach 28 N each. The 17 tactile sensors (range 0–30 N, accuracy ≤5% FS) provide real-time pressure feedback across the palm and fingertips. Palm closing time is 0.8 s for rapid grasp execution. The thumb side/flex speed exceeds 130°/s, and four-finger flexion speed exceeds 200°/s for responsive manipulation. The 1-DOF motorized column (0.5 m vertical travel) combines with dual 7-DOF arms, a 1-DOF waist (0°–115° pitch), and a 2-DOF head to deliver a 32-DOF manipulation system. The mobile base reaches 1.5 m/s with 360° in-place rotation, equipped with LiDAR, depth camera, collision sensors, and ultrasonic sensors for autonomous navigation. Each hand includes an RGB wrist camera with a 130° diagonal FOV and 1920×1080 resolution. The built-in 48V/30Ah battery (1.44 kWh) provides approximately 5 hours of runtime with support for battery swap and automatic recharging via the included charging station. A visualization computer is included as standard for monitoring and development.

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

The H2-D Ultimate 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 Ultimate features a mobile humanoid architecture with multimodal perception and an open development framework. Designed for industrial manipulation, commercial services, robotics research, and embodied AI training.

Autonomous Mobile Chassis — Navigate, Explore & Interact

Unlike the fixed-base H2-D Standard, the H2-D Ultimate features a differential-drive mobile chassis that brings the robot to your environment. With a top speed of 1.5 m/s and 360° in-place rotation (turning diameter ~0.75 m), it navigates warehouses, labs, and service floors with ease. The comprehensive sensor suite includes LiDAR for SLAM mapping, a depth camera for obstacle detection, physical collision sensors for safety bumpers, and ultrasonic sensors for close-range object avoidance. The built-in 48V/30Ah battery (1.44 kWh) delivers approximately 5 hours of continuous operation and supports both manual battery swap and automatic recharging at the included charging station.

1-DOF Motorized Column — Expand Your Workspace Vertically

The 1-DOF motorized column provides 0.5 m of vertical travel at speeds up to ~200 mm/s. 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 while the chassis remains stationary or in motion. Combined with the 1-DOF waist (0°–115° pitch) and 7-DOF arms, H2-D Ultimate achieves a full spherical workspace spanning from the ground to a height of 2 m — ideal for warehouse logistics, assembly lines, and service robotics.

Inspire E2 Dexterous Hands — Tactile-Enhanced Precision

The Inspire E2 is a tactile-enhanced five-finger dexterous hand designed for high-accuracy manipulation research with real-time force feedback. Each hand delivers 6 active DOF distributed across 12 joints — providing fine independent finger control with a remarkable ±0.20 mm repeatability. The thumb achieves a max grip force of 30 N while the four fingers reach 28 N each, enabling robust grasping of a wide range of objects. The 17 tactile sensors per hand (range 0–30 N, accuracy ≤5% FS) deliver real-time pressure, contact, and slip detection across the palm and fingertips for closed-loop force control and delicate object handling. Palm closing time is 0.8 s for rapid grasp execution. With thumb side/flex speed exceeding 130°/s and four-finger flexion speed exceeding 200°/s, the E2 delivers responsive motion for dynamic manipulation tasks. Each hand includes an RGB wrist camera with a 130° diagonal FOV and 1920×1080 resolution for visual servoing and close-up inspection. Power: 24V±10% (static 0.25A, max 4A).

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 1-DOF column and 7-DOF arms, H2-D Ultimate 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 Ultimate 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. A visualization computer is included as standard for monitoring, debugging, and development.

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 on each E2 hand add close-up visual feedback for precision grasping at 1920×1080 resolution with a 130° diagonal FOV. Combined with the chassis-mounted LiDAR and depth camera, this enables rich multi-modal perception for autonomous navigation and manipulation.

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. Mobile. 24/7 Ready.

At 1200–1700 × 576 × 620 mm (height adjustable) and approximately 135 kg, the H2-D Ultimate I is a substantial yet mobile industrial workstation. The differential-drive chassis supports autonomous navigation with 360° rotation. The built-in 48V/30Ah battery provides approximately 5 hours of runtime with battery swap and automatic recharge support. An external power supply is also included for stationary wired operation. Note: the upper body cannot accommodate a battery — all power is drawn from the chassis.

 

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

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 Ultimate I a clean slate for reinforcement learning, teleoperation research, SLAM navigation, and embodied AI. The dual Intel compute handles model training and inference without external hardware. The Inspire E2 hands with sub-millimeter repeatability, 17 tactile sensors per hand, and robust grip forces enable research in tactile-aware manipulation, precision assembly, delicate object handling, closed-loop force control, slip detection, and high-accuracy grasp planning on a mobile humanoid platform. The mobile chassis with LiDAR and depth camera unlocks research in autonomous navigation, multi-robot coordination, and dynamic environment interaction.

Upgrade Path — Grow With Your Research

Ultimate I introduces Inspire E2 tactile dexterous hands on the mobile H2-D Ultimate chassis. Every configuration shares the same mobile base — the difference is the end effector. Upgrade your capabilities as your research evolves:

• End Effectors — Already at Inspire E2 tactile dexterous hands. Upgrade to BrainCo Revo 3 U21/U21T/U21VT for 21-DOF hyper-dexterity, or WUJI Hand 2 for advanced dexterous manipulation.
• Wrist Cameras — Already included with RGB wrist cameras per hand (FOV D:130°/H:120°/V:81°, 1920×1080). 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 and autonomous navigation research.
• Power — Built-in 48V/30Ah battery with charging station included. Supports battery swap and automatic recharge. External PSU also included for stationary wired operation.

Designed For

Technical Specifications

What's in the Box

• Unitree H2-D Ultimate I Humanoid Robot (mobile base)
• Inspire E2 Dexterous Hands with Tactile and 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)
• Built-in 48V/30Ah battery (pre-installed in chassis)
• Charging station kit
• External power supply & AC cable
• Binocular vision head module (pre-installed)
• Array microphone + high-power speaker module (pre-installed)
• LiDAR + depth camera + collision sensors + ultrasonic sensors (pre-installed on chassis)
• Visualization computer
• Handheld remote controller
• Quick-start guide & safety manual
• Secondary development documentation access

H2-D Ultimate Configuration Guide

Ultimate I introduces Inspire E2 tactile dexterous hands on the mobile H2-D Ultimate chassis. Every configuration shares the same mobile 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.