Unitree H2 Dex1-1 Gripper Standard Version

Ask how wide a gripper is and the honest answer is "it depends." The Unitree H2 Dex1-1 Gripper Standard Version measures 78mm across when half-open, 120mm when fully open and 124.5mm when fully closed with its side rails extended. That detail tells you what kind of tool this is: a compact, motorized parallel gripper built to sit at the wrist of a humanoid robot and to be planned around as a moving mechanism, not a fixed block.

The product is available through this page, by quotation.

Background

Unitree and the H2 accessory line

Unitree Robotics is known for legged and humanoid platforms, and the H2 humanoid is the machine this gripper is made for. A humanoid can walk and balance, but its work is done by its end effectors. Unitree therefore offers hands and grippers as separate products, so a team can choose the tool that fits the task. The Dex1-1 sits at the simple end of that range: two jaws, one axis of motion and a drive designed for repeatable control. Teams that need articulated fingers can look at the Unitree H2 Dex5-1 Five Finger Hand instead.

What the Standard Version is

The Standard Version is the base configuration of the Dex1-1. In the box you receive one Dex1-1 gripper, one D405 camera bracket, one 485-to-USB board, and cables and accessories. The D405 camera itself is not included. The bracket is there so that a camera can be mounted later. The usual setup is one gripper per arm, so a full humanoid setup means ordering a pair.

Inside the housing is a motor with a 1:25 reduction ratio, a 15bit absolute encoder and a peak torque of 5N.m. The gripper reports angle, angular velocity, torque and temperature back to the controller. Those four feedback channels are the foundation for force-aware grasping and for monitoring the gripper during long test sessions.

Technical Specifications

Specifications as published by the manufacturer; confirmed against the datasheet at quotation.

The manufacturer has not published the ingress protection rating, the motor model, the mounting interface details or the noise level; they are confirmed at quotation.

What is the difference between form-fitting and friction grasp load?

The Dex1-1 lists two grasp-load figures, and they describe two different ways of holding an object. The form-fitting figure is 20kg. In that case the jaws wrap around the shape of the object, so the geometry carries much of the load. The friction figure is 5kg. Here the jaws hold a surface by pressure alone, so the grip force and the contact material decide what stays in the hand.

That difference matters for planning. A handle, a bar or a crate lip can be caught by shape and lifted at the higher figure. A smooth part pinched between flat jaws falls under the lower one. Gripping force is adjustable from 5 to 120N, which lets a team start gently with delicate items and raise the force only where the task requires it.

How does the Standard Version differ from the camera editions?

The Standard Version has no camera. It ships with the D405 camera bracket, but the D405 camera is not part of the package. If your project needs the gripper to see what it is about to grasp, look at the Unitree H2 Dex1-1 Gripper Advanced Edition. The Advanced Version (with Camera) carries 1080P video at 30 or 60 frames per second, with a field of view of 118° horizontal, 87° vertical and 140° diagonal. Those camera figures belong to that version and not to the Standard one. There is also a Unitree H2 Dex1-1 Gripper Ultimate Edition for teams that want to compare the top tier.

If your robot already has head-mounted or external vision, or if you are building a manipulation pipeline that does not need a wrist view yet, the Standard Version is the practical starting point. The bracket leaves the door open for adding a camera later.

Who is the Unitree H2 Dex1-1 Gripper Standard Version for?

Research labs are the first group. A team teaching an H2 humanoid to pick, carry and place needs a dependable gripper with a fast control loop, and a 1000Hz control frequency over a 6Mbps high-speed 485 link gives them room to experiment with force and position control.

Integrators are the second. The wide voltage range of 24V~64V, with 24 or 48VDC recommended, makes it easier to fit the gripper into different power architectures. The low static current of 0.03A is a useful figure when idle draw matters.

Universities and training programs are the third. A two-jaw gripper is easy for students to reason about, and the status feedback lets them see torque and temperature while they learn.

Teams that need vision at the wrist from day one should consider the Advanced Edition. Teams that need individual finger control belong with the five-finger hand. Everyone else, particularly those who want a strong, simple tool, will find the Standard Version a sensible fit. You may also want to browse H2 Accessories for the rest of the H2 range.

What is the Unitree H2 Dex1-1 Gripper Standard Version used for?

1. Pick-and-place research. Test grasp planning on totes, boxes and tools with a gripper that reports torque and position.
2. Bimanual manipulation. Pair two grippers, one on each arm, for tasks that need both hands, such as carrying a wide object.
3. Teleoperation and data collection. Record demonstrations at a 1000Hz control frequency for imitation-learning work.
4. Force-controlled handling. Set the gripping force anywhere from 5 to 120N to handle both light and heavy items.
5. Education and training. Give students a clear, observable mechanism with angle, velocity, torque and temperature feedback.
6. Integration trials. Evaluate how a 550g end effector fits your power, communication and control stack before a wider rollout.

Pricing and Availability

Pricing is provided by quotation and depends on your configuration and quantity. If you plan a pair for both arms, tell us how many you need when you ask. Delivery, customs and support are arranged with the quotation. The Unitree H2 Dex1-1 Gripper Standard Version is available on this page.

Frequently Asked Questions

How far do the jaws open?

The stroke is 90mm, and the jaws are 80mm long. The overall width is 120mm when fully open.

How fast can it close?

The shortest full-stroke closing time is 0.24s. Speed is adjustable from 50 to 375 mm/s.

What power supply does it need?

The operating voltage is 24V~64V, and 24 or 48VDC is recommended. The peak line current is 3.5A and the static current is 0.03A.

How does it communicate with the robot?

It uses a high-speed 485 protocol at a 6Mbps baud rate, with a control frequency of 1000Hz. A 485-to-USB board is included in the package.

Does the Standard Version include a camera?

No. The D405 camera is not included, but a D405 camera bracket is supplied in the box.

What temperatures is it designed for?

The recommended operating environment is -20℃ ~ 60℃.

Where can I buy the Unitree H2 Dex1-1 Gripper Standard Version and what does it cost?

You can request it through this page. The cost is given by quotation based on your quantity and requirements, and no price is listed here.

Summary

A gripper that changes its width as it moves is a reminder that the last few centimeters of a humanoid decide whether it is useful. The Unitree H2 Dex1-1 Gripper Standard Version offers a 90mm stroke, adjustable force of 5~120N, a 0.24s closing time and four channels of motor feedback in a 550g package. It leaves the camera out, keeps the bracket in, and gives research and integration teams a straightforward place to begin. If that matches your project, this page is the starting point.