H2-D Ultimate M — mobile dual-arm humanoid with WUJI Hand 2 direct-drive dexterous hands, differential-drive chassis with LiDAR navigation

What's in This Configuration

The H2-D Ultimate M features WUJI Dexterous Hand 2 (No Tactile) — a 20-DOF five-finger hand platform with direct-drive rotary joints and back-drivable kinematics, designed for high-bandwidth dexterous manipulation research with MIT Force/Position Hybrid Control. Each hand delivers 20 active DOF with a control frequency of 1000 Hz across 20 axes, operating at 16–58 V DC. The WUJI Hand 2 achieves a fingertip peak force of ≥ 15 N and an open/close speed of ≥ 4 times/s (4 Hz) for rapid, precise object handling. The full opposition grasp configuration supports lateral swing, enabling versatile in-hand manipulation and natural human-like grasping. With joint backlash < 1° and direct-drive actuation, the hand delivers exceptional precision and responsiveness for force-controlled tasks. Each hand includes an RGB wrist camera with 1920×1080 resolution and a 130° diagonal FOV (H:120°, V:81°) for close-up visual feedback during manipulation. Communication is handled via EtherNet (1000BASE-T) for high-speed, low-latency data transfer. The hand frame measures approximately 185 × 80 × 40 mm. 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 60-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. 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 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 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 M achieves a full spherical workspace spanning from the ground to a height of 2 m — ideal for warehouse logistics, assembly lines, and service robotics.

WUJI Dexterous Hand 2 (No Tactile) — 20-DOF with Direct-Drive Rotary Joints & MIT Hybrid Control

The WUJI Dexterous Hand 2 is a 20-DOF direct-drive dexterous five-finger hand designed for high-bandwidth manipulation research with MIT Force/Position Hybrid Control. Each hand delivers 20 active DOF — providing independent control over every finger segment for natural, human-like grasping and manipulation. The WUJI Hand 2 achieves a fingertip peak force of ≥ 15 N for robust handling of objects across a wide range of weights and shapes. The full opposition grasp configuration supports lateral swing, enabling versatile in-hand manipulation and dexterous object reorientation. With direct-drive rotary joints and back-drivable kinematics, the hand delivers exceptional force transparency and responsiveness for delicate force-controlled tasks. Joint backlash is kept below < 1° for precise positioning. With an open/close speed of ≥ 4 Hz and a control frequency of 1000 Hz across 20 axes, the WUJI Hand 2 delivers rapid, precise response for dynamic manipulation tasks. Operating voltage ranges from 16–58 V DC. Communication is handled via high-speed EtherNet (1000BASE-T) for deterministic, low-latency control. The hand frame measures approximately 185 × 80 × 40 mm. Each hand includes an RGB wrist camera with 1920×1080 resolution and a 130° diagonal FOV (H:120°, V:81°) for close-up visual feedback during manipulation. The minimum grasp diameter is 0, enabling precision pinch grasps on the smallest objects.

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 M 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 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. 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 WUJI Hand 2 deliver visual feedback for grasping at 1920×1080 resolution with a 130° diagonal FOV (H:120°, V:81°). 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 M 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 M 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 WUJI Hand 2 with 20 DOF per hand, direct-drive rotary joints, 1000 Hz MIT Force/Position Hybrid Control, ≥ 15 N fingertip peak force, and EtherNet (1000BASE-T) communication enable research in high-bandwidth dexterous manipulation, force-controlled grasping, impedance control, whole-hand coordination, and high-frequency feedback control on a mobile humanoid platform. The RGB wrist cameras with 130° FOV provide visual servoing capabilities for precision manipulation tasks. 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 M introduces WUJI Dexterous Hand 2 direct-drive 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 WUJI Hand 2 direct-drive dexterous hands with 1000 Hz MIT hybrid control and EtherNet communication. This is the top-tier non-tactile configuration in the Ultimate series.
• Wrist Cameras — Included with RGB wrist cameras per hand (1920×1080, FOV D:130°/H:120°/V:81°). Upgrade hands include appropriate wrist 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 M Humanoid Robot (mobile 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)
• 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 M introduces WUJI Dexterous Hand 2 direct-drive 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.