Hardware
Component Overview
The Unitree H2 is a full-size bionic humanoid composed of an upper body and a lower body with a highly articulated, modular structure. It provides a total of 31 degrees of freedom, enabling expressive, human-like whole-body motion for locomotion, balancing, gesturing, and manipulation.
Each leg provides six degrees of freedom (hip, thigh, knee, and ankle joints) for stable, dynamic locomotion. Each arm provides seven degrees of freedom, supporting a wide manipulation workspace. A 3-DOF waist and 2-DOF head enhance balance, motion coordination, and environmental perception.
Degrees of Freedom
Category |
Specification |
|---|---|
Total DOF |
31 |
Single Leg DOF |
6 |
Single Arm DOF |
7 |
Waist DOF |
3 |
Head DOF |
2 |
Joint Actuators
The H2 uses Unitree’s self-developed electric joint actuators, engineered for high torque density, dynamic response, and precise closed-loop control. Selected joints deliver peak torque up to 360 N·m, and dual encoders provide high-resolution position and velocity feedback for accurate state estimation and whole-body coordination.
Parameter |
Specification |
|---|---|
Actuator Type |
High-performance electric (PMSM) |
Peak Joint Torque |
Up to 360 N·m |
Feedback |
Dual encoder (position + velocity) |
Note
Joint ordering, limits, and reference frames used by the control SDK are defined in the official H2 Developer Guide. Always confirm joint indices against the SDK header definitions before sending low-level commands.
Perception
Vision
The H2 integrates a humanoid binocular camera with a wide field of view, providing visual and depth perception for navigation, interaction, and manipulation. The forward-facing configuration supports perception-driven behaviours and human–robot interaction.
Proprioception
An onboard IMU combined with per-joint dual encoders provides the proprioceptive sensing required for balance, contact estimation, and stable whole-body locomotion control.
Tactile (Optional)
When equipped with optional dexterous hands, the H2 gains tactile sensing for fine manipulation and controlled object interaction.
Onboard Computer
The H2 ships with a high-performance AI compute platform rated at up to 2070 TOPS, providing substantial headroom for onboard perception, planning, and multimodal model inference.
Parameter |
Specification |
|---|---|
AI Compute |
Up to 2070 TOPS |
Workloads |
Perception, planning, multimodal inference |
Important
For security reasons, change any default login credentials after first access and follow proper shutdown procedures before performing hardware or software modifications.
Power System
The H2 is powered by a quick-release smart battery, enabling fast swaps to extend operating sessions. Runtime is approximately 3 hours, depending on workload and configuration.
Parameter |
Specification |
|---|---|
Battery |
Quick-release smart battery |
Runtime |
~3 hours (configuration dependent) |
Swap |
Quick-release for fast exchange |
Warning
Always verify that the battery is fully latched before operation. If the H2 will be stored for an extended period, remove the battery pack. Handle batteries according to lithium-battery safety guidelines.