Unitree A1 PRO User manual

A1 PRO User Manual
2018 Unitree All Rights Reserved 1
A1
User Manual
Unitree
www.unitree.cc/cn
V1.1
2020.03

A1 PRO User Manual
Copyright © 2020 Unitree Robotics. All Rights Reserved 2
CONTENTS
Statements and Warnings............................................................................................................................... 3
Product Description
Introduction....................................................................................................................................................6
Feature Highlights........................................................................................................................................6
Unpacking and Packing.............................................................................................................................. 6
Part Name of the Remote Control.............................................................................................................7
Robot Part Name......................................................................................................................................... 8
Prepare Before Starting Up........................................................................................................................9
A1 Quadruped Robot
Overview......................................................................................................................................................11
Robot Operating Mode..............................................................................................................................11
Startup and Shutdown...............................................................................................................................12
Battery Pack................................................................................................................................................13
Foot Assembly............................................................................................................................................ 17
Remote Control Module
Joystick Introduction.............................................................................................................................. 20
Joystick Operation...................................................................................................................................21
APP.......................................................................................................................................................................33
Robot Special Case Handling
Robot Black Box....................................................................................................................................... 38
Robot Abnormal Situation Response................................................................................................ 38
Disclaimer and Safe Use Guidelines
Environmental Requirements.................................................................................................................. 41
Check Before Starting............................................................................................................................... 41
Operational Considerations......................................................................................................................42
Battery Pack Safety Guidelines...............................................................................................................44
After-sales Policy
Warranty Period..........................................................................................................................................47
Maintenance Method.................................................................................................................................47
Other Rules................................................................................................................................................. 48
Appendix
Specifications............................................................................................................................................49
Interface Diagram....................................................................................................................................50

A1 PRO User Manual
Copyright © 2020 Unitree Robotics. All Rights Reserved 3
Statements and Warnings
1.This product is not a toy and is not suitable for people under the age of 18. Do not allow children to
come into contact with this product.·
2.Please read this document carefully before using the product to understand how to use this product
correctly and understand your legal rights, responsibilities and safety instructions; otherwise, it may
bring property damage, safety accidents and personal safety hazards. By using this product, you are
deemed to have understood, endorsed and accepted all and part of the terms and conditions of this
document. The user is committed to being responsible for his or her actions and all consequences
arising therefrom. The user undertakes to use the product solely for legitimate purposes and agrees
to these terms and any relevant policies or guidelines that may be established by Unitree.
3.To the fullest extent permitted by law, Unitree does not make any warranties, express or implied, with
respect to this product, including but not limited to warranties of merchantability, fitness for a
particular purpose, or non-infringement. To the fullest extent permitted by law, Unitree shall not be
liable for any damages resulting from the user's failure to use the product in accordance with this
document. Not liable for any indirect, consequential, punitive, incidental, special or penalties,
including damages incurred as a result of your purchase, use or inability to use the product (even if
Unitree has been advised of such loss) The possibility is also). To the fullest extent permitted by law, in
no event will Unitree's general liability (whether in contract or otherwise) to you for all damages,
losses and litigation will exceed your purchase (if any). And the amount paid to Unitree.
4.The laws of some countries may prohibit exemption from the terms of the guarantee, so your rights
may vary in different countries.
5.Unitree has the final right to interpret the above terms in compliance with laws and regulations. Unitree
reserves the right to update, change or terminate these Terms without prior notice.
6.When using robot, please keep the robot within sight, so that the robot keeps a safe distance of at
least 2 meters from obstacles, complex ground, crowds, water and other objects at all times! Do not
carry the robot after the robot is powered on!
7.Do not use the emergency braking function when the robot is not protected by the protective frame
and protective rope provided by Unitree in the software manual. Otherwise, it will cause the robot to
fall to the ground and cause serious damage !!!
8.When the robot is not protected by the protective frame and protective rope provided by Unitree (or
there is no artificial support for the robot), please do not cut off the power of the robot by pressing
the battery power button, otherwise the robot will fall to the ground!!! For details, please refer to
"How to Turn Off the Robot When the Remote Control Module Fails" in "Robot Abnormal Situation

A1 PRO User Manual
Copyright © 2020 Unitree Robotics. All Rights Reserved 4
Response" P40.
9.Aliengo is a purely electric quadruped robot with certain anti-jamming, but the energy density of the
motor is much lower than the hydraulic pressure. Do not push the robot suddenly and vigorously,
nor to kick the robot, so if the robot falls and is damaged due to a sudden and strong push or kick, it
will not be covered by the warranty.
10.Please control the robot to a prone position before standby for a long time (when the robot is
standing normally, hold down the L2 button and click the A button once to half squatting state, and
click the B Button twice to the zero force mode (the four joints are completely unstressed)) to avoid
the robot automatically shutting down and falling down damaged due to low power!
11.When there is only one battery level remaining, please stop and turn off the robot in time, take out the
battery and charge it, to prevent the robot from falling to the ground and damaged when power is
low.
12.Do not use the roll function after configuring lidar, otherwise the lidar or robot will be damaged!!!
13.Do not lift the robot after switching to the sport mode, otherwise the robot may perform
unpredictable actions, causing damage to the robot or personnel! ! !

A1 PRO User Manual
2018 Unitree All Rights Reserved 5
Product Profile
This section introduces the name and function of the
A1 and remote control.

A1 PRO User Manual
2018 Unitree All Rights Reserved 6
Product Description
Introduction
The high performance A1 quadruped robot consists of a quadruped robot, a remote control and a
remote control software. The whole machine has 12 DOF (composed of 12 high-performance servo
motors), uses force control technology to perform compound control of force and position for each joint.
Adopt streamlined mechanical structure to reduce manufacturing difficulty and improve machine
reliability. A1 have reached domestic and international leading levels in terms of structure, kinematics and
cost.
Feature Highlights
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.
Unpacking and Packing
[4]
[3]
[15]
[2]
[14]
B
[1] Upper Box
[12] Remote Control Placement
[13] Charger Placement
[14] Motor Placement
[15] Charger Base Placement
[2] Lower Case
[3] Quadruped Robot 45° Top View
[4] Quadruped Robot Side View
[41] Front Leg
[42] Hind Leg
Front leg tied with Velcro strap
Hind leg tied with Velcro strap
[42]
[41]
[13]
[12]
[1]
A

A1 PRO User Manual
Copyright © 2020 Unitree Robotics. All Rights Reserved 7
Unpacking
Place the box on the flat ground according to the placement requirements (Face up), then open the
upper box and lift the whole robot out, as shown in the figure above. Remove the robot and remote
control, charger, etc. from the box, place the robot on the flat ground, untie the velcro strap of the
robot's leg, and then prepare for the boot.
Before Packing
First rotate the legs of the robot to the position shown in Figure [4] above(the rear leg is folded up:
rotate the rear leg hip motor so that the rear thigh is placed in the position shown in the above figure [4]
above, and the lower leg is closed. Place it in the position shown in Figure [4] above, and tie the left rear
leg and the right rear leg together with a Velcro strap, as shown in Figure [3] above. The front leg is
folded up: similar to the hind leg, as shown above Figure [3], [4] above placed and bundled).
Packing
After completing the preparation work before packing, load the robot into the lower case [2] in the
direction shown in the figure (note that the two rear thighs of the robot are respectively engaged in the
A and B slots during the loading process. After the robot is loaded into the lower case, place the remote
control, charger, etc. that came with the product into the corresponding positions in the upper case and
fix them with elastic straps, make sure the above parts do not fall when the upper case is closed.
Part Name of the Remote Control
[1]
[2]
[1] Joystick
[2] Mobile phone
[3] Rocker (pull out the
telescopic rod when using,
take it out, and put it back
when it is transport or not
used for a long time )
If not using the robot for a long time, take out the battery pack and put it into battery box.
、
[3]

A1 PRO User Manual
Copyright © 2020 Unitree Robotics. All Rights Reserved 8
Robot Part Name
[1]
[4]
[3]
[2]
[8]
[7]
[6]
[5]
[11]
[13]
[14]
[15]
[12]
[10]
[9]
[18]
[17]
[16]
[1] Body
[2] Front cover
[3] Abdominal support pad
[4] Foot assembly
[5] Hip joint
[6] Thigh
[7] Knee joint
[8] Calf
[9] Thigh motor&Reducer
[10] Calf motor&Reducer
[11] Power switch
[12] Body motor&Reducer
[13] Battery clasp
[14] Multi-Eye depth camera
[15] Camera angle adjustment knob
[16] Developing reserved power interfaces
[17] Developing reserved communication
interfaces
[18] Front suspension plate (Reserved
threaded hole, can be equipped with laser
radar and other components)

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Copyright © 2020 Unitree Robotics. All Rights Reserved 9
Prepare Before Starting Up
Install the Battery Pack
Insert the battery pack into the battery slot from the side of the robot, and pay attention to the
installation direction. If the battery cannot be completely inserted, please adjust the battery direction
and do not press it forcibly to avoid damaging the battery interface and Clasp.
Body Placement
Horizontal boot: 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.
Connect the remote control module
The remote control module includes a joystick and mobile phone. First press the power button for a
short time, and then press and hold the power button for more than 2 seconds to turn on the
joystick.The joystick corresponds to the robot data transmission module one by one, and it can be
automatically connected after starting. The data transmission signal light on the left side of the handle is
fully lit to control the robot; at the same time, the Bluetooth of the mobile phone can be turned on, and
the handle can be connected through the APP to view the connection status of the handle and the
robot.
The robot dog launches 5G WIFI hotspot for image transmission connection. Enter the phone settings,
turn on the WLAN, and find the corresponding WIFI hotspot, namely UnitreeRoboticsA1-XXX, XXX
corresponds to the robot dog code. Click to connect, enter the password 00000000, the image
transmission function is opened after the connection is successful, and the characters can follow and
autonomous navigation operations.
Recommended that the battery be fully charged before use robot.

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2018 Unitree All Rights Reserved 10
A1
This section introduces the operation mode of A1,
the functional characteristics of battery and the
replacement method of foot assembly.

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2018 Unitree All Rights Reserved 11
A1 Quadruped Robot
Overview
The A1 consists mainly of control systems, communication systems, power systems, and battery packs.
This chapter will detail the functions of the various components of the robot.
Robot Operating Mode
A1 uses a new hardware architecture and control system, control system as follows:
supports the following operating states and operating modes:
Static Standing State:
The static standing state refers to the initial height of the robot body position after the start-up, the body
level, and the joystick has no operation state. In this state, the power consumption of the whole machine
is the smallest, and the longest battery life can be achieved.
“A”Mode（3-Axis Attitude And 3-Axis Position Control While Standing）：
When the robot is standing, the joystick can be used to control the robot in 3-axis attitude and 3-axis
position. Including the body pitch, body roll, body yaw, continuous squat, jog-type squat, continuous
standing, jog-up, and various combinations.
“W”Mode（Walking）：
When the robot is in W mode, the robot can realize the step by step without manipulating the joystick;
the joystick can realize the forward and backward movement, the left and right side shift, the in-situ
turning, and the walking according to certain rules on the flat ground (straight line, circle, arc ,
Rectangular), crawl forward, up and down slope/step, large-scale Push Recovery, etc., also has super
adaptability to irregular terrain, the maximum walking speed is 3.3 m / s.
“Sport”Mode :
When the robot dog is standing (in A mode), holding down the L2 key, single-click the B key, the robot
dog squats and lays on the ground, enters the damping mode; then hold down the L1 key, single-click
External power source, External power supply（5V、12V、19V）
Smart battery
Power management
Master controller Ethernet switch
IMU
485
Leg[FR]:
Motor[1]
Motor[2]
Motor[3]
Leg[FL]:
Motor[1]
Motor[2]
Motor[3]
Leg[RR]:
Motor[1]
Motor[2]
Motor[3]
Leg[RL]:
Motor[1]
Motor[2]
Motor[3]
Onboard built-in host
（Raspberry Pi 4）
Optional built-in host
（TX2, etc.）
External user personal
PC，etc.
Sensor（realsense
etc.）
USB

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Copyright © 2020 Unitree Robotics. All Rights Reserved 12
the START key, start the robot dog In sport mode, there will be obvious current sound, and the robot
dog will stand up again; release the L1 key and click START once to enter the sport mode. In the motion
mode, the robot has a strong adaptability to irregular terrain, and the maximum motion speed is 3.3
m/s.
Startup and Shutdown
Startup
After placing the robot according to the requirements in the “Preparing Before starting up” section, start
the following steps: short press the power switch once, then press and hold the power switch for more
than 2 seconds to turn on the battery (when the battery is turned on, the indicator light is the green light
is always on and the indicator shows the current battery level). Then the robot will perform the
power-on self-test. If the self-test is successful, the robot will stand up to the initial height of the body,
and the boot is successful. If the robot is not stand up during the above process, the robot fails the
self-test. If the boot fails, the robot can't stand up. At this time, you need to re-start the body according
to the two steps of “body placement” in the “Preparing Before Starting Up” section.
Shutdown
Before shutting down, please make sure that the robot stands on the level of the ground, make sure that
the robot is in Static Standing State (the height of the robot body is at the initial height after starting up,
the body level, the joystick has no operation, the state when standing statically). Press and hold the
handle L2 button, then click the A button three times, the robot will then complete the squat, stand up,
and lie down; then hold down the handle L2 button, and then click the B button twice, the robot then
completes prone (Damping), prone (undamped) action; after the robot enters the prone (undamped)
Through the START key on the joystick, the robot can switch between static standing mode
and W mode. The L2 + START key enables the robot to switch between static standing mode
and trotting mode.
Since 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.
The robot have certain requirements for the ground to walk. Do not use robot on the ground
with very low friction, such as ice. Do not use robot on soft ground, such as thicker sponge
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.

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Copyright © 2020 Unitree Robotics. All Rights Reserved 13
state, press the power switch once, then press the power switch for more than 2 seconds to turn off
battery. When the battery is turned off, the indicators are off. After shutting down, please adjust the size
of the robot's size legs and hips according to the requirements in the "Preparation before starting"
section, and prepare for the next boot.
After shutting down, please adjust the size of the robot's size legs and hips according to the
requirements in the "Preparation before starting" section, and prepare for the next boot.
Battery Pack
Introduction
The battery pack is designed for the A1 with a capacity of 4200 mAh and a voltage of 21.6 V with charge
and discharge management. The battery pack features a high-performance battery and uses the
advanced battery management system developed by Unitree to provide sufficient power for the A1. The
battery pack must be recharged using a dedicated charger from Unitree.
Battery Pack Function
The battery pack has the following features：
1.Battery Display: The battery has its own battery indicator, which can display the current battery level.
2.Battery Storage Self-discharge Protection: When the power of battery is higher than 65% After 10 days
without any operation, the battery can start self-discharge to 65% to protect the battery. Each
self-discharge process lasts for about 1 hour. There is no LED light indication during discharge, and
there may be slight heat, which is normal.
3.Balanced Charge Protection: Automatically balance the internal battery voltage of the battery to
protect the battery.
4.Overcharge Protection: Overcharging can seriously damage the battery, our battery can automatically
stop charging when it is fully charged.
5.Charging Temperature Protection: Charging will damage the battery when the battery temperature is
The step of shut down will be described in the "Joystick Operation" section.
Please pay attention to Unitree's official website - service and support - technical support -
firmware update or contact Unitree staff. We will develop a one-button shutdown function as
soon as possible, and upload the firmware. At that time, the customer can update the
firmware to make the robot have a one-button shutdown function.
Be sure to fully charge the battery before using it for the first time.

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Copyright © 2020 Unitree Robotics. All Rights Reserved 14
below 5 °C or above 55 °C. At this temperature, the battery will trigger charging abnormality.
6.Charging Current Protection: High current charging will seriously damage the battery. When the
charging current is greater than 4A, the battery will stop charging.
7.Over-discharge Protection: Over-discharge will seriously damage the battery. When the battery is
discharged to 18V, the battery will cut off the output.
8.Short Circuit Protection: When the battery detects a short circuit, the output will be cut off to protect
the battery.
9.Battery Load Detection Protection: When the battery is turned on, if no powered device is connected,
the battery will automatically shut down after 3 seconds.
Battery Pack Part Name
[1] Power switch
[2] LED1
[3] LED2
[4] LED3
[5] LED4
[6] Buckle
[7] Clip
[8] Battery pack panel
[9] Battery pack base plate
[10] Battery interface:
Battery pack charger interface.
[7]
[9]
[7]
[4]
[2]
[1]
Please read and strictly follow requirements of Unitree in this manual, disclaimer, the sticker
on battery pack surface and dedicated charger surface before using the battery pack. The
consequences of failure to use as required are borne by the user.
[10]
[7]
[8]
[6]
[5]
[3]

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Copyright © 2020 Unitree Robotics. All Rights Reserved 15
Turn the Battery On/Off
Turn on the Battery Pack: In the off state, first press the power switch once, then press and hold the
power switch for more than 2 seconds to turn on the battery. When the battery is turned
on, the power indicator is steady green and the battery indicator shows the current battery
level.
Turn off the Battery Pack: In the on state, short press the power switch once, then press and hold the
power switch for more than 2 seconds to turn off the battery. When the battery is turned
off, the indicators are off.
Precautions For Use:
1.The battery pack should be used between 5 °C and 40 °C, and the temperature is too high (above
45 °C), which may cause the battery pack to catch fire or even explode. If the temperature is too low
(below 0 ° C), the battery pack life will be seriously damaged.
2.Do not use the battery pack in strong magnetic or static environments. Otherwise, the battery pack
protection board will malfunction, causing the battery pack and the robot to malfunction.
3.When the battery pack charge is less than two compartments, stop using the robot as soon as possible,
replace the new battery pack or charge the battery pack.
4.Before inserting or removing the battery pack into the robot battery compartment, make sure that the
battery pack is closed, otherwise the battery pack or the robot may be damaged.
View Battery
When the battery pack is off, press the battery switch once to view the current battery level.
Battery Level LEDs
LED1
LED2
LED3
LED4
Remaining Battery
87.5%-100%
75%-87.5%
62.5%-75%
50%-62.5%
37.5%-50%
25%-37.5%
12.5%-25%
0%-12.5%
=0%
The battery indicator can be used to display the battery level during charging and discharging
of the battery pack. The indicators are defined as follows.
Indicates that the LED light is always on Indicates that the LED light is flashing
Indicates that the LED light is off

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Copyright © 2020 Unitree Robotics. All Rights Reserved 16
Charging
1.Connect the charger to an AC power source (100-240V, 50/60Hz). Before connecting, you must ensure
that the external power supply voltage matches the rated input voltage of the charger, otherwise the
charger will be damaged(the rated input voltage of the charger is indicated on the charger
nameplate).
2.Before charging the battery, the charger is connected to the AC power supply before the battery is
connected.
3.Before charging the battery, please make sure the battery pack is off, otherwise it will damage the
battery and charger.
4.Under the charging state, battery indicator will flash in a cycle and indicate the current battery level.
5.When the battery indicator is off, the battery pack is full. Please remove the battery pack and charger
to complete the charge.
6.After the robot is running, the battery pack temperature may be high. The battery pack must be
charged after the battery pack temperature drops to room temperature.
7.Schematic diagram of charging connection:
Charging Indicator
LED1
LED2
LED3
LED4
Current Battery
0%-25%
25%-50%
50%-75%
75%-100%
Full
Charging Protection Indication

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Copyright © 2020 Unitree Robotics. All Rights Reserved 17
The LED can display information about battery protection triggered by abnormal charging.
Charging Indicator
LED1
LED2
LED3
LED4
Display Rule
Protection Project
LED2: 2 times/sec
Excessive charging current
LED2: 3 times/sec
Short circuit
LED3: 2 times/sec
Overcharge causes battery voltage be too high
LED3: 3 times/sec
Charger voltage is too high
LED4: 2 times/sec
Charging temperature is too low
排除
LED4: 3 times/sec
Charging temperature is too high
Troubleshoot (charge current is too large, charge short circuit, charge overcharge causes battery voltage
is too high, charging voltage is too high), please re-plug the charger to resume charging. If the charging
temperature is abnormal, please unplug the charger first. After the charging temperature returns to
normal, plug in the charger and recharge.
Foot Assembly
Introduction
The foot assembly adopts a new design. The movement of the robot will compress the air in the foot
pad and send the pressure signal through the air pipe to the pressure sensor in the shoulder, so as to
judge the environment the robot is in and adjust the movement of the robot accordingly.
Foot end components include foot end base, bottom curved rubber pad, air needle and other
components.It can increase the friction of the foot, avoid the damage of the foot, and reduce the impact
on mechanical parts.
The foot end components are consumables, and the service life is generally 2-6 months (depending on
the use frequency, duration and working condition).Especially in the rough ground running wear will be
more serious, such as obvious foot pad wear, damage, or found that the robot walking on the ground
significantly increased impact noise, please replace the foot components in time, so as not to damage
the foot, resulting in the robot movement disorder.
For safety reasons, the battery needs to be discharged during transportation. The discharge
mode is divided into active discharge and passive discharge:
1.Active discharge: Run the robot until the battery is at a low battery (eg 50% or less).
2.Passive Discharge: The battery is stored in self-discharge protection. For details, please refer
to the chapter "Battery Pack" - "Battery Pack Function".

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Copyright © 2020 Unitree Robotics. All Rights Reserved 18
Foot Assembly Replacement Method
Remove the [3] foot cap screws, and gently rotate the [1] air needle and [5] rubber trachea connected in
the [6] connection slots; Attach the new foot assembly air needle to the rubber trachea (make sure the
connection does not loosen easily), and then install the foot end component in the corresponding
position of the lower leg (note that the foot end component is divided into left and right parts, the
directions are different), and then tighten the screws.
[2]
[3]
[1]
[5]
[6]
[4]
[1] Air Needle
[2] Foot Protection Cover
[3] Foot Cap Screws
[4] Rubber Foot Pad
[5] Rubber Trachea
[6]Air Needle and Trachea
Connection Slots
[6]

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2018 Unitree All Rights Reserved 19
Remote Control Module
This section describes the features of the remote
controller and includes instructions for controlling
the quadruped robot.

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2018 Unitree All Rights Reserved 20
Remote Control Module
Joystick Introduction
The joystick belongs to a part of the remote control module, which 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.
Joystick through bluetooth connection to mobile phones, the signal transmission is more convenient
and stable; Ergonomic structure for a more comfortable feel.
Charge the Joystick
When the battery indicator of the joystick shows low battery (the same status as the battery low battery
indicator), the joystick should be connected to the charger, as shown in the figure below:
[2]
[1]
[3]
[4]
[6]
[5]
[1] Right Stick [2] Left Stick [3] L1/L2 Button [4] R1/R2 Button [5] Charging Interface Type C
[6] Data transmission Signal Light [7] Left Button [8] Power Connection indicator [9] F1 (Left Stick
Calibration Button) [10] SELECT Button [11] Charging Status Indicator [12] Battery Power Indicator
[13] Power Button [14] Data Link Indicator [15] F3 (Right Stick Calibration Button) [16] START Button
[17] Right Button [18] Bluetooth Signal Indicator
[1]
[2]
[3]
[4]
[7]
[8]
[9]
[10]
[12]
[13]
[11]
[14]
[15]
[16]
[17]
[18]