Unitree A1 Manual de usuario
A1
Quick Start Guide
Unitree
V1.0
A1
The optimal design of joint parts makes the quadruped robot not only reduce the cost,
but also greatly improve the motion performance and service life. In Sport mode, the
maximum joint speed of 21rad/s allows A1 to speed up to 3.3m/s in an instant, possess
excellent balance ability; and the torque of 33.5NM allows A1 to easily achieve backflip;
the joints can be quickly disassembled and easy to maintain. The addition of a multi-eye
depth camera allows the quadruped robot platform to have intelligent applications such
as real-time image transmission (image transmission quality 720P / 30fps) and character
following; and supports secondary development. With optional lidar, extended functions
such as dynamic obstacle avoidance, navigation planning, autonomous positioning, and
map construction can be completed; optional NVIDIA TX2 can be used for visual SLAM
and gesture recognition. At the same time, A1 supports APP control for Android and IOS.
①
② ③
④
⑤
⑥
⑦
⑧
1. Multi-Eye depth camera & & 5. Power switch
2. Developing reserved communication interfaces &6. Battery Indicator
3. Developing reserved power interfaces &7. Thigh motor&Reducer
4. Body motor&Reducer 8. Calf motor&Reducer
Remote Controller
The joystick can control the robot to realize the 3-axis attitude and the 3-axis position
control when standing. It can also control the robot to realize the forward and backward,
the left and right side shift, the in-situ turn and the certain rule walking on the leveling
ground. (straight line, circle, arc, rectangle), crawl forward, up and down slope / step, etc.
The joystick through bluetooth connection to mobile phones, the signal transmission is
more convenient and stable; Ergonomic structure for a more comfortable feel.
1
2
9
8
6
7
3
4
5
1. Stick
2. Left Button
3. Power Button
4. Right Button
5. START Button and
Calibration Button
6. Charging Interface Type c
7. WIFI Signal Indicator
8. R1,R2 Button
9. L1,L2 Button
Specifications
A1
Machine Weight(with battery) 12 kg
Dimensions(Stand） l500×300×400 mm（L×W×H）
Dimensions(Folded) 450×300×150 mm（L×W×H）
Maximum Walking Speed 3.3 m/s
Operating Time 1-2.5 h
Real-time HD Video Transmission 0.1-0.2 s delay
Payload 5kg
DOFS 12
Joint Torque 33.5 NM
Joint Maximum Speed 21 rad/s
Foot Force Sensors 4
Protection Mode Emergency stop, Fall protection, Overheat
Warning System Low voltage, High temperature
Short circuit, Overcharge
RTOS Motion control：Ubuntu
Environmental awareness：Ubuntu-ROS
Abundant External Interface HDMI×1
FE×1
USB 3.0×2
Optional Lidar Dynamic obstacle avoidance,
Navigation planning，Map construction
Autonomous positioning
Optional NVIDIA TX2 etc. Gesture recognition, Visual SLAM
Professional secondary development
Remote Controller
Operating Time 2.5 h
Max Transmission Distance 1 km
Battery
Capacity 4200 mAh
Voltage 21.6 V
Battery Type Lithium-ion 6S
1. Check the Battery Levels
Press once to check the battery level. Press once, then again and hold to turn on/off.
2. Charge the Batteries
Charge Time:
~1.5 hours
Power Outlet
100~240 V
Power Outlet
100~240 V
Charge Time:
~2 hours
Unitree
App
3. Prepare the Robot
Please make sure that the robot is placed on the leveling ground before starting the machine. The robot's
abdominal support pad should be flat on the ground. The body level is not tilted on the ground. The robot calf is
fully stowed（As shown below）, make sure that the robot's thighs and calves are not pressed by the body,
otherwise the robot may fail to boot.
4. Prepare for Operating
A1 supports remote control and Wi-Fi control of mobile devices, the robot control mode can be switched
through the App.
5. Control the Robot
1. Joystick control method for basic operation in Sport mode.
2. Joystick control method for combined action and special action in Sport mode.
3. Joystick control method for basic action in Sport mode (walking).
4. Joystick control method for combined action and special action in Sport mode(walking).
5. Joystick control method for basic operation in Sport mode(fast-running).
6. Joystick control method for basic action in SLAM mode .
Power on the
remote controller
Power on the robot
Launch the Unitree App
7. Actions not recommended in Sport and SLAM mode.
Parts 1 to 6 are actions that allow the operator to use them, which are sufficient to express the superior athletic
performance of the robot. When using the actions involved in sections 1 through 6, be sure to follow the
instructions in the “Disclaimer and Safe Use Guidelines”section.
Part 7 is an action that is not recommended, it is very likely that the robot will fall and the robot's battery life may
be greatly reduced.
Since the robot does not have a visual perception system at present, and the actual control
personnel have different levels of control proficiency, in order to be reliable and stable, please
use it in an open and flat environment. When operating the robot, be careful to avoid steps
above 5cm, slopes greater than 25°, and obstacles that may cause the robot to fall. When the
robot is walking on a terrain with a certain undulation or slope, the controller should reduce
the walking speed of the robot and carefully control it so that the robot is tripped by
obstacles.
Foot robots have certain requirements for the ground to walk. Do not use robots on the
ground with insufficient friction, such as ice. Do not use robots on soft ground, such as thicker
sponge/turf floors. For use on smoother floors, such as glass, tiles, etc., carefully and
compliantly control the robot to exercise, avoid strenuous exercise, and reduce the walking
speed of the robot to prevent the robot's foot from slipping and falling.
1.Basic Action under “Sport Mode” (3-Axis Attitude and 3-Axis Position Control when Standing)
NO
The Position of Stick or
Button on Joystick
Operation Diagram
Robot Schematic
Remarks
1
L1 Button START Button
L1 Button START Button
When the robot dog is turned on and standing , after holding
down the L2 button, single-click the B button, the robot dog
squats and lies on the ground, enters the damping mode;
then hold down the L1 button, single-click the START button,
this time will When there is obvious current sound, the robot
dog stands again; release the L1 key and click the START key
once to enter the sport mode.
2
Left Stick
Left Stick
When the robot dog is standing in Sport mode, the left stick is
used to control the robot body to lift or squat.
Push the stick up, robot body lifts up. Push the stick down, the
robot squats. When the stick is in the middle position, the
robot is in a static standing state (the body position is in the
initial state after power on).
3
Left Stick
Left Stick
When the robot dog is standing in Sport mode, the left Stick is
used to control the yaw of the robot.
Push the stick to the left, the robot is twisted to the left. Push
the stick to the right, the robot is twisted to the right. In the
middle position, the yaw angular of body is zero.
The more the stick is pushed away from the center position,
the greater the yaw angular.
4
Right Stick
Right Stick
When the robot dog is standing in Sport mode, the right Stick
is used to control the pitch of robot. (lean forward and
backward)
Push the stick up, robot body leans forward. Push the stick
down, robot body leans backward. When the stick is in the
middle position, robot body is in a horizontal position.
The more the stick is pushed away from the center position,
the greater the yaw angle.
5
Right Stick
Right Stick
When the robot dog is standing in Sport mode, the right Stick
is used to control the robot body roll.
(When the robot faces the operator) Push the stick to the left ,
robot body rolls to the right. Push the stick to the right, robot
body rolls to the left. The robot body does not roll when the
Stick is in the middle position.
The more the stick is pushed away from the center position,
the larger the roll angle.
6
Left Button
Left Button
When the robot dog is standing in Sport mode, the left button
is used to control the robotic body's jog lift and jog squat.
Press the up button and the robot body is lifted up. Press the
down button and the robot body will be clicked.
Note: Please keep in mind the number of key presses. After
the end of the action, please adjust back to the static standing
state of the robot, otherwise the robot's battery life may be
greatly reduced.
哈哈哈哈哈哈哈
2.Combined Action and Special Action under “Sport Mode”
NO
The Position of Stick or
Button on Joystick
Operation Diagram
Robot Schematic
Remarks
7
Left Stick
Left Stick
When the robot dog is standing in Sport mode, the
left Stick is used to control the robot's jaw and the
body is twisted.
Push stick down and to left, the robot squats while
twisting to left. Push stick down and to right, the
robot squats while twisting to left. The robot is in a
static standing state when it is in the middle position.
The more the stick is pushed away from the center
position, the larger the amplitude.
8
Left Stick Right Stick
Left Stick Right
When the robot dog is standing in Sport mode, the
linkage of the left and right Sticks is used to control
the lower jaw of the robot and the front and back of
the body.
Push left stick down and push right stick up, the robot
squats and the body leans forward. Push left stick
down and push right stick down, the robot squats
and the body leans backward. The robot is in a static
standing state when it is in the middle position.
The more the stick is pushed away from the center
position, the larger the amplitude.
9
Right Stick
Right Stick
When the robot dog is standing in Sport mode, the
right Stick is used to control the robot body to make
a clockwise rotation.
Shake the right Stick clockwise to rotate the robot
body clockwise. When in the middle position, the
robot is in a stationary standing state.
The more the stick is pushed away from the center
position, the larger the amplitude.
10
Right Stick
Right Stick
When the robot dog is standing in Sport mode, the
right stick is used to control the robot body to rotate
counterclockwise.
Shake the right Stick counter-clockwise to rotate the
robot body counter-clockwise. When in the middle
position, the robot is in a stationary standing state.
The more the stick is pushed away from the center
position, the larger the amplitude.
11
Right Stick Left Stick
Right Stick Left Stick
When the robot dog is standing in Sport mode, the
combination of the left and right Sticks can control
the robot to lean forward and the body to twist.
Push right stick up and push left stick to left, the
robot leans forward and the body twists to the left.
Push right stick up and push left stick to right, the
robot leans forward and the body twists to the right.
The robot is in a stationary standing position in the
middle position.
The more the stick is pushed away from the center
position, the larger the amplitude.
12
Right Stick Left Stick
Right Stick Left Stick
When the robot dog is standing in Sport mode, the
combination of the left and right Sticks can control
the robot to lean backward and the body to twist.
Push right stick down and push to left stick left, the
robot leans backward and the body twists to the left.
Push right stick down and push stick to right, the
robot leans backward and the body twists to the
right. The robot is in a stationary standing position in
the middle position.
The more the stick is pushed away from the center
position, the larger the amplitude.
哈哈哈哈哈哈哈
2.Combined Action and Special Action under “A Mode”
NO
The Position of Stick or
Button on Joystick
Operation Diagram
Robot Schematic
Remarks
13
L2 Button
Right Button-“X”Button
L2 Button
Right Button-“X”Button
When the robot dog is standing in Sport mode, when
the robot is lying on its back, hold down the L2 key
and press the X key to roll the robot 180° to the right.
After rolling, the robot is in the supine state and the
joints are in the high-damping state. Hold down the
L2 key and press the single right button-a button to
perform semi-squat and standing movements
successively. Press START to release the joint locking
state and enter the normal operation mode.
Note:Do not use this function after configuring lidar,
otherwise the lidar or robot will be damaged.
14
L2 Button
Right Button-“Y”Button
L2 Button
Right Button-“Y”Button
When the robot dog is standing in Sport mode, press
L2 and then Y and the robot rolls 360° to the
right.After rolling, the robot is in the supine state and
the joints are in the high-damping state. Hold down
the L2 key and press the single right button-a button
to perform semi-squat and standing movements
successively. Press START to release the joint locking
state and enter the normal operation mode.
Note:Do not use this function after configuring lidar,
otherwise the lidar or robot will be damaged.
15
L2 Button
Right Button-“A”Button
L2 Button
Right Button-“A”Button
When the robot dog is standing in Sport mode, after
holding down the L2 key and repeatedly clicking the
right button-A button, the robot joint will be locked .
When the robot in half squatting state, the joint will
be locked, and robot can manually raised from one
place to another place.
Note: Press the L2+A button only when the robot is
in a static standing position. Do not press the L2+A
button while walking, otherwise the robot will fall and
be damaged.
16
L2 Button
Right Button-“B”Button
L2 Button
Right Button-“B”Button
After holding down the L2 key and single-clicking the
B key, the robot will enter the zero torque mode (in
this mode, the remote control can be used to
calibrate the joint zero point; in this mode, the
remote control L1+B can be used to calibrate the IMU
installation error)
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