Unitree Go I User manual

GO1 User Manual
2021 Unitree All Rights Reserved 1
Go1
User Manual
Unitree
www.unitree.cc/cn
V1.4
2021.12

GO1 User Manual
Copyright © 2021 Unitree Robotics. All Rights Reserved 2
CONTENTS
Statements and Warnings................................................................................................................................................................3
Product Description............................................................................................................................................................................5
Introduction ...............................................................................................................................................................................5
Feature Highlights......................................................................................................................................................................5
Unpacking and Packing ...........................................................................................................................................................5
GO1 Quadruped Robot.....................................................................................................................................................................8
Robot Part Name .......................................................................................................................................................................8
Prepare Before Starting Up.....................................................................................................................................................9
Robot internal architecture.................................................................................................................................................. 10
Robot Operating Mode ........................................................................................................................................................ 10
Startup and Shutdown .......................................................................................................................................................... 11
Battery Pack ..............................................................................................................................................................................12
Foot Assembly..........................................................................................................................................................................16
Remote Control Module................................................................................................................................................................ 19
Joystick Introduction.............................................................................................................................................................. 19
Joystick Operation .................................................................................................................................................................. 20
Label controller ................................................................................................................................................................................. 23
Label controller Introduction .............................................................................................................................................. 23
Function ....................................................................................................................................................................................24
Follow the instructions automatically:.............................................................................................................................. 25
APP Interface .....................................................................................................................................................................................28
website Interface Introduction..................................................................................................................................................... 30
Robot Special Case Handling....................................................................................................................................................... 34
Robot Black Box.......................................................................................................................................................................34
Robot Abnormal Situation Response............................................................................................................................... 34
Disclaimer and Safe Use Guidelines...........................................................................................................................................37
Environmental Requirements.............................................................................................................................................. 37
Check Before Starting............................................................................................................................................................ 37
Operational Considerations................................................................................................................................................. 38
Battery Pack Safety Guidelines ...........................................................................................................................................39
After-sales Policy.............................................................................................................................................................................. 43
Warranty Period ......................................................................................................................................................................43
Maintenance Method ............................................................................................................................................................43
Other Rules ............................................................................................................................................................................... 44
Appendix............................................................................................................................................................................................. 45
Specifications............................................................................................................................................................................ 45
Interface diagram.................................................................................................................................................................... 45

GO1 User Manual
Copyright © 2021 Unitree Robotics. All Rights Reserved 3
Statements and Warnings
1. This product is not a toy .
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 Response" P40.

GO1 User Manual
Copyright © 2021 Unitree Robotics. All Rights Reserved 4
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. 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! ! !

GO1 User Manual
2021 Unitree All Rights Reserved 5
Product Description
Introduction
The Go1 high-motion performance quadruped robot platform consists of a quadruped robot, a wireless
positioning tag, a remote control and supporting remote control software. The whole machine has 12
degrees of freedom (composed of 12 high-performance servo motors), and the force control technology
is used to perform compound control of the force and position of each joint, so as to realize the force
control of the whole machine and obtain excellent sports performance. Use streamlined mechanical
structure to reduce manufacturing difficulty and improve machine reliability. Equipped with a super-
sensing system to realize dynamic perception and the world's first autonomous accompanying function.
Whether it is in terms of structure, sports performance and environmental perception, it has reached the
leading level at home and abroad.
Feature Highlights
Go1 expands its accompanying functions and optimizes its performance on the basis of regular sports;
the overall body weight is 12kg, which makes the robot very light and easy to carry; Go1 is equipped
with an ISS only companion system, using patented wireless vector positioning and The control
technology allows the robot to be located in the side of the person’s lateral vision, which is far better
than the conventional follow mode. The human-computer interaction is natural and harmonious, safe
and safe; the body comes with an sss super-sensing system, a fisheye binocular camera and The fusion
of ultrasound can make the robot autonomously choose a simpler route to travel while the environment
is complex. At the same time, the APP side develops the God's perspective, and uses the robot's own
multiple sets of cameras for multi-eye vision fusion, thereby opening the God's perspective of the robot's
remote control operation, making the remote operation beyond the visual range as easy and convenient
as being on the spot.
Unpacking and Packing
Unboxing
Place the box on a flat ground according to the placement requirements (front face up), then open the
upper box, and lift the robot as a whole, as shown in the figure above. Take out the quadruped robot,
remote control, charger, etc. from the box respectively, place the quadruped robot on a flat ground, untie
the velcro straps on the legs of the quadruped robot, and prepare for booting

GO1 User Manual
Copyright © 2021 Unitree Robotics. All Rights Reserved 6
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).
If not using the robot for a long time, take out the battery pack and put it into battery box.
、
[1]
[2]
[3]
[4]
[8]
[5]
[6]
[7]
[1]Reserved space [2] Battery charging dock [3] Battery charger [4] Joystick [5] Tape [6]
Emergency stop button and type-C charger [7] Reserved space [8] Foot accessories

GO1 User Manual
2021 Unitree All Rights Reserved 7
Go1
本章节介绍 Go1 本体及其使用

GO1 User Manual
2021 Unitree All Rights Reserved 8
GO1 Quadruped Robot
Robot Part Name

GO1 User Manual
Copyright © 2021 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 UnitreeRoboticsGO1-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.

GO1 User Manual
2021 Unitree All Rights Reserved 10
Robot internal architecture
GO1 uses a new hardware architecture and control system, control system as follows:
Robot Operating Mode
The following operating states and operating modes are supported:
Static standing state:
The static standing state refers to the state where the position of the robot body is at the initial height
after the machine is turned on, the body is level, and the handle is not operated. In this state, the power
consumption of the whole machine is the smallest, and the longest endurance time can be reached. The
3-axis attitude and 3-axis position control can be completed by the joystick
Sports mode:
After the robot is turned on, it will stand up on its own. At this time, it is in the movement mode and can
complete walking, fast running and other sports.
Accompanying status:
After the robot dog is turned on, the head light strip will flash after 1 min. At this time, the robot can be
accompanied by the tag controller. The robot can dynamically follow the controller and avoid obstacles
dynamically in real time.
External power source, External power supply（5V、12V、19V）
Sensor
（realsense
etc.）
Smart battery
USB
Power management
Master controller Ethernet switch
IMU
（Raspberry Pi 4）
NANO-1-4GB
（body）
485
Leg[RL]:
Motor[1]
Motor[2]
Motor[3]
Leg[RR]:
Motor[1]
Motor[2]
Motor[3]
Leg[FR]:
Motor[1]
Motor[2]
Motor[3]
Leg[FL]:
Motor[1]
Motor[2]
Motor[3]
NANO-2-4GB
（body）
NANO-3-2GB
（head）
Depth camerax1
Depth camerax2
Depth
camerax2，
Ultrasoundx1