Unitree H2
==========

.. The provided tutorial will assist you with understanding, setting up, and operating the Unitree H2 humanoid robot.
.. The tutorial topics are listed in the left column and presented in the recommended reading order.

.. image:: media/figures/h2_product.png
    :alt: Unitree H2 Full-Size Humanoid Robot
    :width: 70%
    :align: center
    :class: mbsrounded

The **Unitree H2** is a full-size, bionic humanoid robot built for natural, expressive whole-body motion and
real-world task execution. With **31 degrees of freedom**, high-torque joints, and a high-performance onboard AI
compute platform, the H2 targets research, embodied-AI development, human–robot interaction, and advanced
demonstration scenarios.

.. meta::
   :description: Official documentation for the Unitree H2 full-size humanoid robot. Specifications, operation, and SDK development guide for research and embodied AI.
   :keywords: Unitree H2, humanoid robot, H2 SDK, unitree_sdk2, embodied AI, bionic humanoid, 31 DOF, robotics research, DDS, CycloneDDS

Expressive Whole-Body Motion
````````````````````````````
The H2 features **31 degrees of freedom**, including **6-DOF legs**, **7-DOF arms**, a **3-DOF waist**, and a
**2-DOF head**. Combined with joint torques up to **360 N·m**, this kinematic configuration enables fluid,
human-like movement — walking, balancing, gesturing, and dynamic full-body actions.

Onboard Intelligence
````````````````````
A high-performance AI compute platform rated at up to **2070 TOPS** supports onboard perception, planning, and
multimodal model inference. Paired with a binocular vision system and joint-level sensing, the H2 can perceive
its environment and execute perception-driven behaviours in real time.

Practical Payload and Endurance
```````````````````````````````
The H2 carries a **7 kg** continuous payload, with short-duration capacity up to **21 kg**, supported by a
quick-release smart battery for fast swaps during extended operation.

Open Control and Developer-Friendly Design
``````````````````````````````````````````
The H2 exposes fully open, low-latency control interfaces over Unitree's ``unitree_sdk2`` (C++),
``unitree_sdk2_python`` (Python), and ``unitree_ros2`` packages, communicating via DDS. It is suitable for:

- Humanoid locomotion and whole-body control research

- Embodied AI and reinforcement learning

- Human–robot interaction experiments

- Manipulation with optional dexterous hands

.. note::

   For SDK setup, network configuration, and example commands, see the :doc:`h2_sdk` section. The official
   developer reference is maintained by Unitree at the
   `H2 Developer Guide <https://support.unitree.com/home/en/H2_developer>`_.


Specifications
==============

.. figure:: media/figures/h2_parameters.png
   :width: 80%
   :align: center
   :alt: Unitree H2 parameter specification diagram
   :class: mbsrounded

   Official Unitree H2 parameter diagram

|

Physical & Mechanical
`````````````````````

+-------------------------------------------+----------------------------------------------+
| **Parameter**                             | **Specification**                            |
+===========================================+==============================================+
| Height (standing)                         | ~180–182 cm                                  |
+-------------------------------------------+----------------------------------------------+
| Weight (with battery)                     | ~70 kg                                       |
+-------------------------------------------+----------------------------------------------+
| Total Degrees of Freedom                  | 31                                           |
+-------------------------------------------+----------------------------------------------+
| Single Leg DOF                            | 6                                            |
+-------------------------------------------+----------------------------------------------+
| Single Arm DOF                            | 7                                            |
+-------------------------------------------+----------------------------------------------+
| Waist DOF                                 | 3                                            |
+-------------------------------------------+----------------------------------------------+
| Head DOF                                  | 2                                            |
+-------------------------------------------+----------------------------------------------+
| Peak Joint Torque                         | Up to 360 N·m                                |
+-------------------------------------------+----------------------------------------------+

|

Performance
```````````

+-------------------------------------------+----------------------------------------------+
| **Parameter**                             | **Specification**                            |
+===========================================+==============================================+
| Walking Speed                             | Under 2 m/s                                  |
+-------------------------------------------+----------------------------------------------+
| Payload (continuous)                      | 7 kg                                         |
+-------------------------------------------+----------------------------------------------+
| Payload (short duration)                  | Up to 21 kg                                  |
+-------------------------------------------+----------------------------------------------+

|

Power
`````

+-------------------------------------------+----------------------------------------------+
| **Parameter**                             | **Specification**                            |
+===========================================+==============================================+
| Battery                                   | Quick-release smart battery                  |
+-------------------------------------------+----------------------------------------------+
| Runtime                                   | ~3 hours (configuration dependent)           |
+-------------------------------------------+----------------------------------------------+
| Hot Swap                                  | Quick-release for fast exchange              |
+-------------------------------------------+----------------------------------------------+

|

Sensing & Compute
`````````````````

+-------------------------------------------+----------------------------------------------+
| **Parameter**                             | **Specification**                            |
+===========================================+==============================================+
| AI Compute                                | Up to 2070 TOPS                              |
+-------------------------------------------+----------------------------------------------+
| Vision                                    | Humanoid binocular camera (wide FOV)         |
+-------------------------------------------+----------------------------------------------+
| Proprioception                            | IMU + joint-level sensing                    |
+-------------------------------------------+----------------------------------------------+
| Tactile (optional)                        | Via dexterous hands                          |
+-------------------------------------------+----------------------------------------------+

|

.. warning::

   **Safety Notice:** The H2 is a full-size, high-power humanoid capable of forceful, dynamic motion. Maintain
   adequate clearance during operation, keep the emergency stop accessible, and never allow untrained personnel
   to operate the robot.

   **Civilian Use Only:** This product is intended exclusively for lawful civilian applications. Hazardous
   modifications and deployment in dangerous contexts are strictly prohibited.

.. note::

   **Specification Source:** Values summarised here are drawn from Unitree's published material and may vary by
   model, firmware version, configuration, and operating conditions. Some figures (e.g. exact battery capacity)
   have not been officially disclosed. Always cross-reference the official
   `Unitree H2 Developer Guide <https://support.unitree.com/home/en/H2_developer>`_ before development or
   deployment.


.. toctree::
    :hidden:
    :caption: QRE H2

    Overview <self>
    h2_overview

.. toctree::
    :hidden:
    :caption: Operation

    operation

.. toctree::
    :hidden:
    :caption: SDK

    h2_sdk

.. toctree::
    :hidden:
    :caption: Getting Help

    getting_help
    getting_involved
    faq