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HumanoidUnitree Robotics2024CN

Unitree H1-2

Revised H1 with 7-DOF arms, added ankle DOF and higher arm payload, trading top speed for manipulation.

activeBuyL1 Compilednot buildable

Difficulty index

10.2/13
10.2
Index breakdown
Classhumanoid+5
Costunknown · midpoint+1.5
DOF27 DOF+2.7
Partsunknown · midpoint+1
How the index works

Top of the ladder. This robot lives on the humanoid domains.

Specimen photographs

3 items
  • Unitree H1-2 studio render, three-quarter front view
    Studio render of the published MJCF, the model's zero pose. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from unitreerobotics/unitree_mujoco (BSD-3-Clause) · Hyperspawn render · source
  • Unitree H1-2 studio render, side view
    Side view of the same MJCF render, the model's zero pose.Rendered by Hyperspawn from unitreerobotics/unitree_mujoco (BSD-3-Clause) · Hyperspawn render · source
  • 4 s turntable of the MJCF studio render.Rendered by Hyperspawn from unitreerobotics/unitree_mujoco (BSD-3-Clause) · Hyperspawn render · source

Spec card

9/13 known
Degrees of freedom
27
Height
178 cm
Mass
70 kg
Payload
7 kg
Speed
2 m/s
Battery
864 Wh
Actuators
Unitree in-house electric joint motors
Compute
Intel Core i5 standard; i7 or up to 3x Jetson Orin NX optional
Sensors
3D LiDAR, depth camera

Not in the registry: runtime, price, bom total, part count. Left blank rather than guessed.

What you learn building it

  • +Whole-body control
  • +Dozens of actuators on one bus
  • +Balance and fall handling
  • +Safe bring-up of a full-size machine
  • +Testing in simulation (URDF/MJCF) before touching hardware
  • +Running published learned policies

Openness

40/100
  • not publicCAD
  • not publicBOM
  • not publicFirmware
  • publicSim model
  • publicSoftware
  • publicPolicies

Score 40/100 computed from what is public: CAD 25, BOM 20, sim 20, firmware 15, software 10, policies 10. Hardware license: Proprietary. Software license: BSD-3-Clause.

Repos & models

URDF ↗
SiteDocs

Build it

Closed hardware. Buy link only.

humanoidrobot.build/unitree/h1-2 · Closed hardware. Buy link only.

Simulate

Load it in the browser simulator and train a policy before building.

Open on humanoidrobots.training ↗

Next rung

None. This is the top. Find people building it on humanoidrobots.team.

This is the top of the ladder.

NoteShares the H1 product page. The year is inferred from launch coverage and not confirmed on the maker page. Pre-trained h1_2 policy is in unitree_rl_gym/deploy/pre_train.

Sources

  1. [1]Unitree H1/H1-2 product pagechecked 2026-09-24
  2. [2]Humanoid.guide H1-2checked 2026-09-24