H2-A Standard
Fixed base.
UNITREE · Humanoid robots
Unitree H2-D
Unitree H2 Series Dual-Arm Humanoid Robot
Unitree H2-D is a dual-arm humanoid mobile manipulator platform. The product family includes the H2-A Standard fixed base, H2-D Standard manually portable chassis, and H2-D Flagship mobile chassis options. Specifications vary by selected configuration.
Product portfolio
Unitree H2-D offers different configurations for industrial operations, commercial services, research and development, and embodied AI training. These models can be configured to suit various working environments and integrated into task-oriented applications. Technical performance data and specific configuration options are provided in the product documentation.
H2-D Standard
Hand-portable chassis.
H2-D Flagship
Mobile chassis.
Do not attribute H2-A specifications to H2-D variants.
High-performance embodied AI platform
Combines hardware and software integration, mobility, and multimodal perception.
In-house developed technology
Actuators, force-controlled joints, and motion control algorithms; secondary development and customization options.
Agile movement with multiple DOFs
Omnidirectional movement, vertical lifting, and body tilt; designed for stability in confined and complex spaces.
Multimodal perception
Vision, LiDAR, ultrasonic sensing, force feedback, and voice interaction.
Biomimetic design and whole-body mobility
Total degrees of freedom exclude end effectors; configuration varies by variant.
Two arms 7×2, waist 3, head 2; waist pitch, yaw, roll.
19 DOF
H2-A Standard
Two arms 7×2, waist 3, head 2; waist pitch, yaw, roll.
Two arms 7×2, waist 1, head 2, column 2; waist pitch, column vertical lift and yaw.
19 DOF
H2-D Standard
Two arms 7×2, waist 1, head 2, column 2; waist pitch, column vertical lift and yaw.
Two arms 7×2, waist 1, head 2, column 1, chassis 2; waist pitch and column vertical lift.
20 DOF
H2-D Flagship
Two arms 7×2, waist 1, head 2, column 1, chassis 2; waist pitch and column vertical lift.
Variant-specific DOF components are listed separately.
Mechanical performance and flexible installation
Nominal load per arm is approximately 7 kg, with a peak load of approximately 15 kg. Fixed-base, manually portable, or mobile chassis configurations are available.
~15 kg
Peak load
May vary depending on arm posture.
~7 kg
Nominal load
Per arm.
Extended workspace and flexible reach
With waist tilt, column lift, and whole-body coordination, the workspace extends from ground level up to 2 meters.
~0,6 m
Single-arm reach
Excludes dexterous hands.
0,36 / 0,46 m
Column stroke
Standard / Flagship.
~0,75 m
Turning diameter
Mobile chassis.
0–115°
Waist pitch range
H2-D.
Flexible posture, perception, and adaptation
The five capabilities of Unitree H2-D described on this page:
Flexible posture
0–115° pitch for picking up items at ground level and working at elevated levels.
Multimodal perception and natural interaction
Binocular vision and natural-language interaction.
Dynamic operation
Navigation/obstacle avoidance using LiDAR, depth cameras, and sensors; whole-body control.
End-effector options
Two-finger gripper, three- or five-finger hand; quick change.
Open development
Aims to reduce development time with an SDK, API, and navigation software stack.
End-effectors are optional/configuration-dependent.
Applications
The source lists four application areas.
Industrial automation
High-speed sorting and autonomous warehousing.
Research and education
Embodied AI research, validation, training, and demonstrations.
Commercial services
Reception, guided tours, and retail operations.
Embodied AI training platform
Real-world data collection, model fine-tuning, and sim-to-real transfer.
Product parameters
Mechanical dimensions; DOF; joints; payload; ranges of motion; lifting; reach; materials; chassis; electrical; sensors; battery; and other specifications are compared across variant columns.
| Total DOF, excluding end effector | H2-A 19; H2-D Standard 19; H2-D Flagship 20 |
|---|---|
| Overall dimensions | H2-A 780×444×200 mm; H2-D Standard min. 1200×560×605, max. 1700×560×605 mm; Flagship min. 1200×576×633, max. 1700×576×633 mmDepending on column height. |
| Weight (including battery) | 33,5 kg / ~148 kg / ~120 kgH2-A / Standard / Flagship. |
| Arm joint torque and payload | 120 N·m; peak ~15 kg, nominal ~7 kgPayload varies according to arm posture. |
| H2-D lifting | Up to 200 mm/s; stroke Standard 0,36 m, Flagship 0,46 m |
| Single-arm reach | ~0,6 mExcludes dexterous hands. |
| Mobile Flagship chassis | Up to 1,5 m/s; turning diameter ~0,75 m; dual-wheel differential servo driveFlagship. |
| Cameras | Binocular camera ×1, wrist HD cameras ×2 |
| Battery | H2-A 75,6 V/15 Ah, 972 Wh; H2-D Standard 48 V/18 Ah, 864 Wh; Flagship 48 V/30 Ah, 1,44 kWh |
| Connectivity | Wi-Fi 6 and Bluetooth 5.2 |
| End-effector | Optional 2-finger gripper, 3- or 5-finger handOptional. |
The source table contains H2-A Standard / H2-D Standard / H2-D Flagship columns. Overall dimensions: 780×444×200 mm; with the column at minimum/maximum height, H2-D Standard 1200×560×605 / 1700×560×605 mm, Flagship 1200×576×633 / 1700×576×633 mm. Weight: 33,5 / approximately 148 / approximately 120 kg. Arm joint torque 120 N·m; single-arm reach ~0,6 m. H2-D lifting speed up to 200 mm/s; stroke Standard 0,36 m, Flagship 0,46 m. Flagship travel speed up to 1,5 m/s, dual-wheel differential servo drive and approximately 0,75 m turning diameter. Sensors: binocular camera ×1, wrist HD ×2; Flagship chassis LiDAR ×1, depth camera ×1, collision sensor ×2, ultrasonic ×2. Wi-Fi 6, Bluetooth 5.2; Intel i5 platform PC / i7 custom-development PC. Batteries: H2-A 75,6 V/15 Ah (972 Wh); Standard 48 V/18 Ah (864 Wh); Flagship 48 V/30 Ah (1,44 kWh). Operating time depends on conditions; the table states approximately 8 hours for H2-A, approximately 5 hours of battery use for Flagship, and 7×24 hours for direct power. The source also lists air cooling, microphone array/speaker, handheld controller, OTA, secondary development, and a 12-month warranty. The warranty is solely a statement in the manufacturer's table; it is not a commitment by our company. Arm payload varies according to posture; parameters may vary by scenario/configuration; product appearance and features may change; a safety distance is required.
Secondary development guide
Direct download link not verified.
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