Unitree B1 User manual

B1
User Manual V1.0.1
www.unitree.cc/cn

1. This product is not a toy and is not intended for use by persons under the age of 18. Keep out of reach of
children and be careful when operating in the presence of children.
2. Please be sure to read this article carefully before using the product, understand how to use the product correctly
and your legitimate rights, responsibilities, and safety instructions. Otherwise, it may bring property damage,
safety accidents and personal safety hazards. Once used this product, you are deemed to have carefully read,
understood, recognized, and accepted all the terms and contents of this article. Users untaken to be responsible
for their actions and all consequences therefrom. Users undertake to use this product only for legitimate
purposes and agree with these terms and any relevant policies or guidelines that United may establish.
3. To the fullest extent permitted by law, in no event does Unitree provide any express or implied commercial or
technical warranties not covered herein, that the products/services provided are completely defect-free, that
they are fully compliant with customer requirements, that there will be no problems or interruptions in the use
of the products/services, and that Unitree will be able to completely repair these defects. In any case, Unitree
shall not be liable for direct or indirect economic losses of the customer because of this service manual, and the
maximum compensation of Unitree for the losses of the customer caused by its own product liability shall not
be higher than the amount paid by the customer for the purchase of the product/service.
4. The laws of some countries may prohibit the exemption of guarantee clauses, so your relevant rights may vary
in different countries.
5. Subject to legal compliance, Unitree reserves the right of final interpretation of the above terms. Unitree has
the right to update, amend or terminate this term without prior notice.
6. When using, please control the robot within sight, keep a certain safe distance from the robot, and do not touch
the robot with your hands after the robot is powered on.
7. Before long term standby, please operate the robot dog to the lying down posture (press button L2 twice + A
button and make the robot lie down or press the L2+B button to enter the damping state) to avoid damage
caused by automatically shutting down and falling down.
8. When the battery power is only one block left, please stop and turn off the robot dog in time, take out the battery
to charge to avoid the damage of falling when the battery is low.

Declarations and Warnings
Catalogue
Product Overview ....................................................................................................................................................... 4
Introduction......................................................................................................................................................... 5
Function Highlights............................................................................................................................................. 5
Body B1 ...................................................................................................................................................................... 6
Introduction......................................................................................................................................................... 7
B1 Parts Name .................................................................................................................................................... 7
Foot End Components Description ..................................................................................................................... 8
Load Function Description.................................................................................................................................. 8
System Architecture Description ........................................................................................................................ 9
Extended Interface Description......................................................................................................................... 11
Operating Mode Description............................................................................................................................. 12
Protection Level Description............................................................................................................................. 12
Autonomous Charging Description(optional)................................................................................................... 13
B1 Battery Pack ........................................................................................................................................................ 15
Description........................................................................................................................................................ 16
Parts Name ...................................................................................................................................................... 16
Technical Specifications ................................................................................................................................... 17
Battery Pack Functio......................................................................................................................................... 17
Battery Indicator ............................................................................................................................................... 18
Battery Pack Turn on/ Turnoff.......................................................................................................................... 18
Battery Pack Charging ...................................................................................................................................... 18
Precautions for Use ........................................................................................................................................... 19
Remote Control......................................................................................................................................................... 20
Introduction....................................................................................................................................................... 21
Parts Name ........................................................................................................................................................ 21
Technical Specifications ................................................................................................................................... 21
Remote Control Handle Rocker Calibration ..................................................................................................... 22
Remote Control Turnon/Turnoff....................................................................................................................... 22
Remote Control Charging ................................................................................................................................. 22
Remote Control Basic Operation ...................................................................................................................... 23
Running..................................................................................................................................................................... 25
Note before Review .......................................................................................................................................... 26
Operation Environment Requirement ............................................................................................................... 26
Check before Power on ..................................................................................................................................... 27
Preparation before Power on............................................................................................................................. 27
Power on/Remote Control................................................................................................................................. 29
Power off........................................................................................................................................................... 30
Precautions for Operation ................................................................................................................................. 31
Robot Abnormal Condition Description ........................................................................................................... 32
Common Problems and Solutions ................................................................................................................... 32

Safe Operation Guide................................................................................................................................................ 34
Battery Pack Safe Operation Guide .................................................................................................................. 35
Daily Maintenance .................................................................................................................................................... 38
Whole Machine Clean....................................................................................................................................... 39
Inspection and Maintenance ............................................................................................................................ 39
After-sales Service and Policy .................................................................................................................................. 41
Warranty Period Description............................................................................................................................. 42
Service Scope.................................................................................................................................................... 42
Disclaimer ......................................................................................................................................................... 43
Other Detailed Rules ......................................................................................................................................... 43
Appendix................................................................................................................................................................... 45
Packing Lis........................................................................................................................................................ 46
Product Parameter Information ......................................................................................................................... 48
Remote Quick Lookup Table ............................................................................................................................ 49

This chapter mainly introduces the functional characteristics of the product

B1 User Manual
© 2022 All rights reserved, Unitree Robotics 5
Introduction
The B1 industrial protection level quadruped robot consists of B1 itself and remote control. The robot has 12 degrees
of freedom (12 high-performing joint units), 3 degrees of freedom for a single leg. The force control technology is used
to control the force and position of each joint, so that it makes user achieve the force control of the machine and obtain
excellent movement performance. It has multi-road condition adaptability, strong obstacle crossing ability, can easily
climb stairs and cross rugged terrain, can adapt to ruins, railway tracks and many other complex terrains. We provide
detailed users instructions, software development manuals, etc., and also provide high-level control function of secondary
development documents and routines (for example walking), provide low-level control function of secondary
development documents and routines (such as motor position, speed and torque), and multiple expansion ports are
equipped with to meet different expansion functions.
Function Highlights
Super large load capacity, universal helper
The B1 has a very large load capacity, with a maximum standing load of 80kg and a continuous load of 20kg. It can
meet various load demands in special and complex operations and become a universal and powerful helper for operators
in emergencies.
Multi-road Condition adaptability, great ability to cross obstacles
With its swift posture and self-developed and continuously optimized movement control algorithm, B1 has super
obstacle-crossing ability, can easily climb stairs and traverse rough terrain, can adapt to different weather and many
complex terrains, such as ruins and railway tracks, has high mobility and flexibility, and able to replace humans in many
special or high-risk environments to complete work.
Highest IP68 waterproof, strong protection function
The B1 robot structure has a protection level of not less than IP67 (has passed the protection level certification)
during operation, and the standard protection level is IP67 (optional IP68). It can not only adapt to outdoor rainy weather
and various harsh environments, but also work under 1.2 meters of water.
Equipped with other peripherals to improve operation accuracy
The B1 can also be equipped with various peripherals, which can perfectly cooperate with Unitree’s self-developed
Z1 robotic arm to complete complex tasks and explore various application scenarios. Users can also adapt to various
peripherals, such as gas sensing, temperature sensing, 5G networking, infrared pan-tilt, industrial cameras, 3D radar, etc,
to improve the accuracy of operations.
Self-charging, all-weather operation (optional)
The B1 is equipped with a contact charging board, which can complete self-charging, greatly improve operation
time and efficiency, and provide a strong guarantee for all-weather operations.
If you want to choose IP68 protection level and self-charging function, please contact with relevant personnel of Unitree!

For use in special environments, including scenarios such as ultra-high load, high temperature, underwater, corrosion,
etc. please contact with relevant personnel of Unitree!

This chapter introduces the Body B1 and its functions

B1 User Manual
© 2022 All rights reserved, Unitree Robotics 7
Introduction
The B1 quadruped robot with industrial protection level has installed 5 sets of Intel D430 depth cameras, which can
sense the surrounding environment and terrain; It equipped with 3 NVIDIA NX computing power cards to provide super
AI computing power; It equipped with x86 architecture movement control processor with powerful computing power.
The body B1 and battery adopt a split design, which supports quick battery replacement without tools. All connecting
materials and structures are made of 6061-T6 aluminum alloy, and individual key components are 7075-T6, which can
withstand the impact of falling. All the shell parts of the legs (thigh rod, motor shell) are made of aluminum alloy, which
has a good heat dissipation effect.
B1 Parts Name
[Robot Dog Body]
[Users Extension Dock]
[Robot Dog Head]
[Hip]
[Lower Leg]
[Backing Pad]
[Thigh]
[Knee]
[Multi-view Depth Camera]
[Intelligent Battery]
[Multi-view Depth Camera]
[Users Extension Dock]
[Power Interface]
[USB-TYPEC]
[2*8PIN 16 Chip Interface]

B1 User Manual
© 2022 All rights reserved, Unitree Robotics 8
Foot End Components Description
[1] Tightening screw at the end of foot
[2] Rubber Foot Pad
The foot component adopts a new design: the foot of the quadruped robot is the first to contact the physical world,
which greatly affects the movement performance and reliability of the robot. The B1 foot pad is made of high molecular
weight elastic rubber material, which can not only buffer the impact when the foot is in contact with the ground, but also
ensure a long life when used on rough ground. In the event of severe abrasion or damage, it can be quickly replaced.
The foot component is a consumable, and its life span is usually 2-6 months (depending on the frequency, duration and
working condition). Abrasion will be more serious, especially when it runs on the rough ground. If it is found that the foot
pads are obviously worn out or damaged, or the impact noise of the robot on the ground is significantly increased when
walking, please replace the foot end components in time to avoid damage to the foot end and cause the robot to move
abnormally.
Load Function Description
The B1 has a very large load capacity, with a maximum standing load of 80kg and a continuously working load of
20kg. When the robot load is relatively large, the height of the robot's standing and walking will become shorter, which
will adversely affect the heating of the knee motor. At present, the height of the robot should be raised, which can be
realized by "up" and "down" buttons on the remote control. At the same time, the footholds of the legs also need to make
adjustment by pressing R2+A/B to switch between two different footholds. When the load is relatively large, it should
be switched to the foothold state as shown in Figure 2, which will sacrifice some extreme movement performance to
reduce the heat of the motor on the robot.
Figure 1
Figure 2
please reduce the speed appropriately and run carefully!
In the process of carrying the load, it is recommended that the weight be controlled within 20kg.
[2]
[1]

B1 User Manual
© 2022 All rights reserved, Unitree Robotics 9
System Architecture Description
Hardware Architecture: The B1 adopts a new brand hardware structure and control system. The control system is
as follows:
Main controller
Ethernet switch
IMU
Leg[F R] :
Motor[1]
Motor[2]
Motor[3]
Intel Controller
(Body)
External integrated interface, connect external power source, supply external power supply
Intelligent battery
Leg[FL]:
Motor[1]
Motor[2]
Motor[3]
Leg[RR]:
Motor[1]
Motor[2]
Motor[3]
Leg[RL]:
Motor[1]
Motor[2]
Motor[3]
NX
(Body)
NX
(Body)
NX
(Head)
Binocular Camera*2
Binocular Camera*1
Binocular Camera*2
485
WiFi Router5G Module
Power manageme
Hardware interface: Interface is provided in the back cover of B1 for users, through which developers can directly
access to Mini PC and NX controller. The hardware interface is shown in the figure, in which the head NX controller
does not open the Type-C and HDMI interface.
[2]
[11]
[1]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[1]
Sim Card Slot
[2]
Mini PC Type-C Interface
[3]
Mini PC HDMI Interface
[4]
NX Controller 1 HDMI Interface
[5]
NX Controller 1 Type-C Interface
[6]
NX Controller 2 Type-C Interface
[7]
NX Controller 2 HDMI Interface
[8]
XT30 (2+2) Power Interface
[9]
TYPE-C USB 2.0 Interface
[10]
2×8PIN Ethernet Interface
[11]
Cooling Fin