Unitree H1-2

Product positioning

Unitree H1-2 is the second generation of the full-size Unitree humanoid, presented alongside the original H1 on the manufacturer's shared product page. Versus the H1, it gains substantially richer upper-body kinematics (7 DOF per arm vs 4), longer arms (total arm length 685 mm vs 338 mm × 2) and additional leg DOF (6 vs 5) — at the cost of higher mass (~70 kg vs ~47 kg) and lower maximum speed (<2 m/s vs 3.3 m/s).

Mechanical architecture

H1-2 has 27 degrees of freedom total: 6 DOF per leg (3 hip + 1 knee + 2 ankle), 7 DOF per arm (3 shoulder + 1 elbow + 3 wrist) and an additional waist DOF. Standing dimensions: (1503 + 285) mm × 510 mm × 287 mm. Thigh + calf 400 mm × 2. Joint output bearings: industrial-grade crossed roller bearings (high precision, high load capacity).

Drive and torque

Key joints use Unitree M107 PMSM motors (Permanent Magnet Synchronous Motor) with a low-inertia, high-speed internal rotor. Peak torques: knee ~360 N·m, hip ~220 N·m, waist ~220 N·m, ankle 75 × 2 N·m, shoulder ~120 N·m, elbow ~120 N·m, wrist ~30 N·m. Peak torque density: 189 N·m/kg.

Perception and compute

The robot is equipped with a 3D LiDAR and a depth camera providing 360° spatial perception. Standard compute: Intel Core i5 (platform functions) + Intel Core i7 (user development). Optional: Intel Core i7 or up to three NVIDIA Jetson Orin NX modules (tripling the compute headroom versus H1, targeted at AI workloads).

Manipulation

H1-2 supports optional dexterous hands including the Dex5-1 (5 DOF anthropomorphic) or other ambidextrous configurations from the Unitree portfolio. Arm load capacity: peak ~21 kg, rated ~7 kg — a clear step up from H1, which did not carry a published arm-load spec.

Power

15 Ah / 0.864 kWh battery, max voltage 67.2 V, hot-swappable. Endurance close to H1 thanks to the unchanged battery capacity, despite the higher total mass.

Software

Full integration with the Unitree ecosystem: Unitree SDK2 (C++), Unitree Python SDK2, ROS 2 and Eclipse Cyclone DDS via adapters, and native SLAM/navigation services. The robot supports OTA firmware updates and ships with a handle controller for teleoperation, plus full secondary development (open dev platform).

Market position

Unitree H1-2 targets R&D labs, humanoid integrators and companies building RL/IL policies on top of 7-DOF manipulation. Together with the G1, R1 and H2, it forms the core of Unitree's 2024–2025 humanoid lineup.