Unitree A1 User manual

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)

3.Basic Action under “Sport mode” (walking)
NO
The Position of Stick or
Button on Joystick
Operation
Diagram
Robot Schematic
Remarks
17
START Key
START Key
When the robot dog is in Sport mode, the START button is used to
switch between the two states of the robot in step and stationary.
Press the START button to turn on the step function and the robot
enters the W mode. Press the START button again and the robot
switches to the static standing state.
18
Left Button
Left Button
The left button is used to correct the phenomenon that the robot
IMU drifts heavily.
In the Sport mode (turning on the local step function), there is no
joystick operation, and if there is a left or right drift when the robot
is stepping on the ground, the IMU needs to be corrected. If the
robot drifts to the right (left), press the left (right) button once, and
observe the IMU correction after 3 seconds. If it is still drifting,
continue to repeat until the drift is not obvious (the reaction time of
the button takes 3 seconds)
19
Left Stick
Left Stick
The left Stick is used to control the forward and backward
movement of the robot.
In Sport mode, Push stick up, the robot moves forward. Push stick
down, the robot moves backward. When in the middle position, the
robot walks at zero speed and steps on the ground.
The more the stick is pushed away from the center position, the
faster the robot will move. (please push the Stick slowly to prevent
the robot from suddenly moving forward or backward).
20
Left Stick
Left Stick
The left Stick is used to control the robot to circle in the in-situ state.
In Sport mode, push stick to left, the robot steps back and turns
counterclockwise. Push stick to right and the robot steps back and
turns clockwise. When in the middle position, the rotational angular
velocity of the robot is zero and the robot is stepping on the
ground.
The more the stick is pushed away from the center position, the
faster the robot will rotate..
21
Right Stick
Right Stick
The right Stick is used to control the robot's lateral movement.
In Sport mode, push stick to left, the robot moves to the left. push
stick to the right, the robot moves to the right. When in the middle
position, the speed is zero and the robot is in place.
The more the stick is pushed away from the center position, the
faster the robot will move.
哈哈哈哈哈哈哈

4.Combined Action and Special Action under “Sport Mode” (walking)
NO
The Position of Stick or
Button on Joystick
Operation Diagram
Robot Schematic
Remarks
21
Left Stick
Left Stick
The left Stick is used to control the arc (circle) of the
robot.
In Sport mode, push stick in the upper right direction,
the robot will go to the right front arc. If you hold on
the direction of stick, the robot will go forward and
circle clockwise. Push stick to the lower left, the robot
will take the arc to the right. If hold on, the robot will
retreat and move counterclockwise. The angle
between the Stick and the horizontal line
corresponds to the walking radius of the robot. The
larger the angle, the larger the radius.
22
Left Stick
Left Stick
The left Stick is used to control the arc (circle) of the
robot.
In Sport mode, push stick to the upper left direction,
robot will take the arc to the left front. If hold on, the
robot will go forward and rotate counterclockwise.
Push Stick to the lower right, the robot will take the
arc to the left. If hold on, the robot will retreat and
move clockwise. The angle between the Stick and the
horizontal line corresponds to the walking radius of
the robot. The larger the angle, the larger the radius.
24
L1 Key Left Button
L1 Key Left Button
The L1 button is used in conjunction with the left
button to change the height of the robot's leg.
In the Sport mode, after pressing the L1 button, the
up button of the left button is clicked, and the robot
raises the leg height. After holding down the L key,
jog the left button down button, the height of the
robot lift leg is lowered. Each change in height
changes by 1 cm. The robot's initial leg height is 5cm,
and the leg height can be changed to 4-8cm.
Note: Increasing the height of the leg raises the
landing speed of the foot end, the contact force
between the foot end and the ground increases, and
the step sound becomes larger, increasing the impact
on the reducer and reducing the life of the reducer.
No special circumstances, please set the height of the
leg to 4-5cm.

5.Basic Action Under “Sport Mode”(fast-running)
NO
The Position of Stick or
Button on Joystick
Operation Diagram
Robot Schematic
Remarks
25
L1 Button START Button
L1 Button START Button
In the sport mode (When the robot steps), after
holding down the L2 key, click the START key once,
the robot enters the fast running state.
26
Left Stick
Left Stick
The left stick is used to control the robot to move
forward and backward.
In the fast-running state, push the rod upward, and
the robot runs forward. Pulling the lever down, the
robot runs backward. In the neutral position, the
robot jumps quickly in place.
The amount of the joystick corresponds to the
running speed. The greater the amount of the stick,
the greater the running speed (please push and pull
the lever slowly to prevent the robot from moving
forward and backward suddenly).
27
Left Stick
Left Stick
The left Stick is used to control the robot to circle in
the in-situ state.
In the fast-running state, push stick to left, the robot
steps back and turns counterclockwise. Push stick to
right and the robot steps back and turns clockwise.
When in the middle position, the rotational angular
velocity of the robot is zero and the robot is trotting
on the ground.
The more the stick is pushed away from the center
position, the faster the robot will rotate.
28
Right Stick
Right Stick
The right Stick is used to control the robot's lateral
movement.
In the fast-running state, push stick to left, the robot
moves to the left. push stick to the right, the robot
moves to the right. When in the middle position, the
speed is zero and the robot is trotting on the ground.
The more the stick is pushed away from the center
position, the faster the robot will move.
29
Left Stick
Left Stick
The left Stick is used to control the arc (circle) of the
robot.
In the fast-running state, push stick in the upper right
direction, the robot will go to the right front arc. If you
hold on the direction of stick, the robot will go
forward and circle clockwise. Push stick to the lower
left, the robot will take the arc to the right. If hold on,
the robot will retreat and move counterclockwise. The
angle between the Stick and the horizontal line
corresponds to the walking radius of the robot. The
larger the angle, the larger the radius.
30
Left Stick
Left Stick
The left Stick is used to control the arc (circle) of the
robot.
In the fast-running state, push stick to the upper left
direction, robot will take the arc to the left front. If
hold on, the robot will go forward and rotate
counterclockwise. Push Stick to the lower right, the
robot will take the arc to the left. If hold on, the robot
will retreat and move clockwise. The angle between
the Stick and the horizontal line corresponds to the
walking radius of the robot. The larger the angle, the
larger the radius.

6.Basic Action Under “SLAM Mode”
NO
The Position of Stick or
Button on Joystick
Operation Diagram
Robot Schematic
Remarks
31
L1 Button+L2 Button
START Button
L1 Button+L2 Button
START Button
In the Sport mode, after holding down the L2 key,
single-click the B key to enter the noiseless damping
mode; hold down the L1 and L2 keys at the same
time, single-click the START key; then press the L2
key, single-point B key twice, single-point A key twice
enter SLAM mode.
For operations in SLAM mode, refer to the APP
section.
32
Right Button – “A” Button
Right Button-“A”Button
In the SLAM mode, A button is used to turn on/off
the climbing mode (terrain following mode)
Press the A button to turn on the climbing mode. In
the W mode, you can manipulate the robot to climb.
Note: rated forward climbing angle is less than or
equal to 22°.

7.Actions that are not recommended under “Sport” and “SLAM” mode
NO
The Position of Stick or
Button on Joystick
Operation Diagram
Robot Schematic
Remarks
33
Left Button
Left Button
The left button is used to control the body lift and
squat when stepping.
In Sport and SLAM mode, press the up button, the
robot body will lift up. Press the down button, the
robot body will squat.
Note 1: This action is not recommended. Note 2:
Please refer to Table 6 for other precautions.
34
Left Button Left Stick
Left Button Left Stick
Left button and left Stick linkage is used to control
the robot crept forward and backward.
In Sport and SLAM mode, press the down button, the
robot body will squat. Push stick up, the robot crept
forward. Push stick down, the robot crept backrward.
Note 1: This action is not recommended. Note 2:
Please refer to Table 6 for other precautions.
35
Left button Right Stick
Left Button Right Stick
Left button and right Stick linkage is used to control
the robot crept to the left and right.
In Sport and SLAM mode,, press the down button,
the robot will squat. Psuh stick to left, the robot crept
and moves to the left. Psuh stick to right, the robot
crept and moves to the right. Note 1: This action is
not recommended. Note 2: Please refer to Table 6 for
other precautions.
36
Left Button Left Stick
Left Button Left Stick
Left button and Left Stick linkage is used to control
the robot crept to turn counterclockwise and
clockwise.
In Sport and SLAM mode,, press the down button,
the robot will squat. Push stick to left, the robot crept
and turns counterclockwise. Push stick to right, the
robot crept and turns clockwise. Note 1: This action is
not recommended. Note 2: Please refer to Table 6 for
other precautions.
37
Left Button Left Stick
Left Button Left Stick
Left button and left Stick linkage is used to control
the robot crept to walk arc (circle)
In Sport and SLAM mode, press the down button, the
robot will squat. Push stick in the upper right
direction, and the robot will squat down to the right
front. If the Stick is kept, the robot will kneel forward
and circle clockwise. Push stick in the lower left
direction, and the robot will squat down to the right
rear. If the Stick is kept, the robot will squat back and
move counterclockwise.
Note 1: This action is not recommended. Note 2:
Please refer to Table 6 for other precautions.

7.Actions that are not recommended under “W” and “Sport ” mode
NO
The Position of Stick or
Button on Joystick
Operation Diagram
Robot Schematic
Remarks
38
Left Button Left Stick
Left Button Left Stick
Left button and left Stick linkage is used to control
the robot crept to walk arc (circle)
In W and Sport mode, press the down button, robot
will squat. Push stick in the upper left direction, and
the robot will squat down the arc in front of the left
front. If the Stick is kept, the robot will kneel forward
and move counterclockwise. Push stick in the lower
right direction, and the robot will squat down the
right rear. If the Stick is kept, the robot will squat back
and move clockwise.
Note 1: This action is not recommended. Note 2:
Please refer to Table 6 for other precautions.

6. APP
APP Interface Introduction
UnitreeRobotics is an application tailored for quadruped robots of Unitree. Use of Android and IOS system
platforms; It supports touch screen and special joysticks, this section takes UnitreeRobotics APP as an example to
explain, the specific interface is subject to the corresponding platform display.
APP download link：http://www.unitree.cc/e/action/ShowInfo.php?classid=6&id=370
UnitreeRobotics APP home page
Documentation
Click to view the robot user manual and other documents.
Connect
Check the connection status of the phone with the Bluetooth controller or robot. Operate the joystick when the
connection is successful, The keys and joystick on the Bluetooth controller interface will be synchronized.
[1] Visitor
[2] Documentation
[3] Connection
[4] Select
[5] Vision
[6] Simulator
[7] SLAM
[1]
[4]
[3]
[2]
[7]
[6]
[5]
Signal
BLE Gamepad
Robot

Vision
Click the machine vision button to enter the following operation interface:
Image mode shows the robot perspective; depth mode shows the distance between the object and the robot,
the closer the distance, the darker the color.
When the robot is in motion mode, click on the open tracking button to enter the character tracking interface,
select the person to be tracked in the image, and the robot will follow automatically. Do not track missions in
scenes with complex terrain or many obstacles.
[5]
[2]
[8]
[3]
[1] Image mode
[2] Depth mode
[3] Body recognition
[4] Robot
[5] Bluetooth
[6] Handle operation
[7] Exit
[8] Track
[1]
[6]
[4]
[7]

Simulator
Click to enter the simulation operation interface. When the robot is not connected, you can learn the handle keys
and functions through simulation control. For operation, refer to "Remote Control Module-Handle Operation".
The simulator only supports basic actions, and combined actions are still being improved.
SLAM
When the robot is in W mode, click to enter SLAM.
Click to select the point and enter the following interface:
The map is updated in real time according to the radar data of the robot. You can select any point on the map
and send the information to the robot after confirmation. The robot will autonomously navigate to the
destination, avoid obstacles autonomously, and select the optimal path.
[1]
[2]
[3]
[4]
[5]
[6]
[1] Select
[2] Update the map
centered on the robot
[3] Refresh the live map
[4] Stop robot
[5] Exit
[6] Pick

note:
1. When there are obstacles around the robot, please clear the obstacles before setting the target point,
otherwise you cannot navigate;
2. Wait for the robot posture to appear on the screen of the mobile phone and then set the target point after
starting up, otherwise the robot cannot receive the command;
3. When operating in a place with many people (dynamic obstacles), please ensure that the set target point is a
passable area.
4. If you encounter other unexpected situations, you can press the stop button to stop the robot. To resume
operation, click the restart button on the phone screen.
[7]
[1]
[2]
[3]
[4]
[1] Stop robot
[2] Clear all points
[3] Clear a single point
[4] Send selected
information to the robot
[5] Exit
[6] Restart SLAM
[7] Clear all points
[5]
[6]