Unitree Go1 User manual

Go1
Manual V1.0
Unitree
www.unitree.cc/cn
www.

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directory
Disclaimer:.................................................................................................................................................... 2
GO1 Introduction........................................................................................................................................ 3
Battery Charging ......................................................................................................................................... 9
GO1 Basic Operation with Handheld Devices................................................................................... 11
GO1 Basic Operation with Label controller....................................................................................... 13
Setting and using Unitree App on Tablet/Phone............................................................................. 15

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Disclaimer:
The document is produced by Unitree Robotics (https://www.unitree.com/) in China, based on the
information collected from the robot manufacturer, as well as in-house experiment and research. Unitree
Robotics tried its best to ensure the accuracy of the information at the time of producing the document.
Unitree Robotics does not accept any responsibility whatsoever for misrepresentation by any person
whatsoever of the information contained in this manual and expressly disclaims all and any liability and
responsibility to any person, whether a reader of this training manual or not, in respect of claims, losses or
damage or any other matter, either direct or consequential arising out of or in relation to the use and
reliance, whether wholly or partially, upon any information contained or products referred to in this
manual.

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GO1 Introduction
Hardware Components
The GO1 quadruped robot comes with the following hardware components:

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Quick Assembly
he GO1 comes in a luggage. The default passcode is 000.
The GO1 should be found in the following position.

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There are four LED lights on the battery to indicate the power, four bars indicate full power, short press the
button to check the power
Place the GO1 on a flat ground. Then, insert the battery into the side of the GO1's body. Push the battery in
until you hear the click sound from the battery's locking mechanism.

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The GO1 should then be placed in the following configuration, with all 4 limbs flat on the ground:
Proper starting configuration of GO1
To switch the GO1 on, locate the power button on the GO1's battery pack and
perform 1 short press followed by 1 long press. Awhirring sound will be heard and
the robot will stand up by itself. In this case, the robot dog can be controlled by the
remote control

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After about 1min after powering on, the head of the robot dog will flash a white light. This means you can
control the robot dog by label controller
To switch the GO1 controller on, locate the power button and perform 1 short press followed by 1 long
press. A beep will be heard when the controller is switched on. The same button press sequence applies
when switching the controller off.

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To switch off the GO1, ensure that the GO1 is in the "Proning" static state. Then, locate the power button
on the GO1's battery pack and perform 1 short press followed by 1 long press.

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Battery Charging
The GO1 battery has 4 LEDs acting as the battery level indicator:
⚫1/4 LED of battery level indicator lit -> 0-25% battery level 2/4 LED of
⚫battery level indicator lit -> 25-50% battery level 3/4 LED of battery level
⚫indicator lit -> 50-75% battery level
⚫4/4 LED of battery level indicator lit -> 75-100% battery level 0/4 LED of
⚫battery level indicator lit -> Charging complete
Please charge the battery as soon as it falls to the 25% level (1/4 LED of battery level indicator lit)
To charge battery, please remove battery from GO1 and mount it onto the battery charger. Charging
duration is approximately 1.5 hours.
To charge remote control, connect it to the Battery Charger via USB-C type cable. Charging duration is
approximately 1.5 hours

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To charge Label controller, connect it to the Battery Charger via USB-C type cable. Charging duration is
approximately 1.5 hours

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GO1 Basic Operation with Handheld Devices
Here is an introduction to the use of the go1 remote
1) power on the robot, then waiting 1min it will stand up by itself and the light band on the robot's head
will flash. This means that you can control the robot dog through the remote control or label
2)Start ->unlocked and inattitude control
3) Start again -> enter walk control In this case, the robot can be controlled only by pushing the rocker. If
the handheld is not pushed, it will stand in place
4) Start twice ->enter fast run control In this case, the robot will step all the time without pushing the
handheld
5)L2+A->the robot is locked, and the robot dog can switch between standing and lying down postures
through multiple operations. If you want to take away the robot, you need to press L2+A in advance to lock
the robot and take it away.When standing, you can press start to unlock
6)L2+B-> damping state/low power state, In this state, the robot dog will get down, you need to use L2+A
to make him stand up
Schematic diagram of pose control：

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Schematic diagram of walking control
Remarks:
When using the robot to move, first push the joystick slightly, and increase the speed after you are familiar
with the robot operation.
The current version of the robot dog only supports the above functions for the time being, and Unitee
Technology will update related functions in the future, and update it for you as soon as possible

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GO1 Basic Operation with Label controller
Here is an introduction to the use of the label controller
1) power on the robot, then waiting 1min it will stand up by itself and the light band on the robot's head
will flash. This means that you can control the robot dog through the remote control or label
2)POW -> Short press once, then long press for 2 seconds to turn on and off the remote control
Remarks:
The label should be turned on in a fixed position before powering on.As shown below
Buckle the remote control to the waist belt on the right side of the human body. The human body is
standing on the left side of the robot, with the torso facing the same as the robot. Short press and long
press the POW button that automatically follows the remote control, when the indicator lights up steadily,

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the opening is completed. The vertical distance between the label and the ground is 60~110cm, and the
horizontal distance between the label and the robot dog is 50~70cm.
3) mod -> Short press the MOD key to switch the following three modes: Mode1-Mode2-Mode3-Mode1
⚫Mode1: Joystick mode, you can control the robot movement through the joystick
⚫Mode2: Slow auto follow mode, maximum speed 1.5m/s
⚫Mode3: Fast auto-following mode, maximum speed 3.0m/s
4) POW+‘+’-> the robot is locked, and the robot dog can switch between standing and lying down postures
through multiple operations. If you want to take away the robot, you need to press L2+A in advance to lock
the robot and take it away.When standing, you can press MOD to unlock
Schematic diagram of Mode1

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Setting and using Unitree App on Tablet/Phone
1、Download and install the app from https://www.unitree.com/app/
2、Connect to the GO1 via WiFi - UnitreeRoboticsGO1-XXX, with the following network configuration:
Password:00000000
3、Open the app. Click on the in-app settings (top right of screen)
4、Change the IP address to (192.168.12.1)
5、Quit to home and your mobile device is now properly configured to use the following functions
6、Tap vision on the screen to use the vision function

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You will see the following interface：
If you slide your two fingers in the direction in the picture, you can enlarge the image, as
shown below:
Back to home
Change to AI
Virtual joystick
System management interface
BLE Gamepad
Change lens

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Note: Each camera screen is a real-time screen with adjustable viewing angle by default. AI
portrait recognition only supports 1 screen at the same time. Therefore, after clicking AI
switch, the corresponding camera screen will switch to AI screen, and if there are other
camera AI screens before , The screen will switch back to the real-time screen with
adjustable viewing angle
7、Virtual joystick
The robot dog can be remotely controlled through this interface (not yet open)
8、BLE Gamepad
lock
static posture
Turn over
Expand menu
Damping
walk
run

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This interface can be connected to the remote control to determine whether the remote
control is damaged
9、System management interface

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