Unitree A1 PRO User Manual
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Unitree A1 PRO User Manual

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

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Summary of Contents for Unitree A1 PRO

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

  • Page 2: Table Of Contents

    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 Copyright © 2020 Unitree Robotics. All Rights Reserved...

  • Page 3: Statements And Warnings

    (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).
  • Page 4 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! ! ! Copyright © 2020 Unitree Robotics. All Rights Reserved...
  • Page 5 A1 PRO User Manual Product Profile This section introduces the name and function of the A1 and remote control. 2018 Unitree All Rights Reserved...

  • Page 6: Product Description

    A1 PRO User Manual 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.

  • Page 7: Part Name Of The Remote Control

    [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 ) Copyright © 2020 Unitree Robotics. All Rights Reserved...

  • Page 8: Robot Part Name

    [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) [16] [17] [18] Copyright © 2020 Unitree Robotics. All Rights Reserved...

  • Page 9: Prepare Before Starting Up

    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. Copyright © 2020 Unitree Robotics. All Rights Reserved...
  • Page 10 A1 PRO User Manual This section introduces the operation mode of A1, the functional characteristics of battery and the replacement method of foot assembly. 2018 Unitree All Rights Reserved...

  • Page 11: A1 Quadruped Robot

    A1 PRO User Manual 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: External power source, External power supply（5V、12V、19V）...

  • Page 12: Startup And Shutdown

    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) Copyright © 2020 Unitree Robotics. All Rights Reserved...

  • Page 13: Battery Pack

    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.
  • Page 14 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. 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.
  • Page 15 Indicates that the LED light is always on Indicates that the LED light is flashing Indicates that the LED light is off 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% Copyright © 2020 Unitree Robotics. All Rights Reserved...
  • Page 16 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 Copyright © 2020 Unitree Robotics. All Rights Reserved...

  • Page 17: Foot Assembly

    Copyright © 2020 Unitree Robotics. All Rights Reserved...
  • Page 18 (note that the foot end component is divided into left and right parts, the directions are different), and then tighten the screws. Copyright © 2020 Unitree Robotics. All Rights Reserved...

  • Page 19: Remote Control Module

    A1 PRO User Manual Remote Control Module This section describes the features of the remote controller and includes instructions for controlling the quadruped robot. 2018 Unitree All Rights Reserved...

  • Page 20: Joystick Introduction

    A1 PRO User Manual 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.

  • Page 21: Joystick Operation

    Note : Please do not touch the joystick before calibrating, only enter the calibration mode to move the joystick. After calibration, you can view the status of the joystick after calibration through APP . (reference P33) Robot and Robot Schematic Side View Top View Front View Robot Robot Schematic Copyright © 2020 Unitree Robotics. All Rights Reserved...
  • Page 22 Please be sure to operate the robot in an open space. Before Reading When using the control program that comes with Unitree, the operation instructions and robot actions in this section correspond to each other. When the When users use the own programs in developer mode: the joystick command is still valid during high-level (application layer) development.
  • Page 23 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. Copyright © 2020 Unitree Robotics. All Rights Reserved...
  • Page 24 A1 PRO User Manual 1.Basic Action under “Sport Mode” (3-Axis Attitude and 3-Axis Position Control when Standing) The Position of Stick or Operation Diagram Robot Schematic Remarks Button on Joystick 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;...
  • Page 25 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 Copyright © 2020 Unitree Robotics. All Rights Reserved...
  • Page 26 A1 PRO User Manual 2.Combined Action and Special Action under “A Mode” The Position of Stick or Operation Diagram Robot Schematic Remarks Button on Joystick When the robot dog is standing in Sport mode, when L2 Button L2 Button the robot is lying on its back, hold down the L2 key Right Button-“X”Button...
  • Page 27 A1 PRO User Manual 3.Basic Action under “Sport mode” (walking) The Position of Stick or Operation Robot Schematic Remarks Button on Joystick Diagram 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.
  • Page 28 No special circumstances, please set the height of the leg to 4-5cm. Copyright © 2020 Unitree Robotics. All Rights Reserved...
  • Page 29 A1 PRO User Manual 5.Basic Action Under “Sport Mode”(fast-running) The Position of Stick or Operation Diagram Robot Schematic Remarks Button on Joystick 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.
  • Page 30 A1 PRO User Manual 6.Basic Action Under “SLAM Mode” The Position of Stick or Operation Diagram Robot Schematic Remarks Button on Joystick L1 Button+L2 Button L1 Button+L2 Button START Button START Button In the Sport mode, after holding down the L2 key, single-click the B key to enter the noiseless damping mode;...
  • Page 31 A1 PRO User Manual 7.Actions that are not recommended under “Sport” and “SLAM” mode The Position of Stick or Operation Diagram Robot Schematic Remarks Button on Joystick Left Button Left Button The left button is used to control the body lift and squat when stepping.
  • Page 32 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. Copyright © 2020 Unitree Robotics. All Rights Reserved...

  • Page 33: App

    A1 PRO User Manual This section introduces the main functions of the Unitree Robotics app. 2018 Unitree All Rights Reserved...
  • Page 34 A1 PRO User Manual 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.
  • Page 35 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. Copyright © 2020 Unitree Robotics. All Rights Reserved...
  • Page 36 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. Copyright © 2020 Unitree Robotics. All Rights Reserved...
  • Page 37 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. Copyright © 2020 Unitree Robotics. All Rights Reserved...

  • Page 38: Robot Special Case Handling

    “body placement” and “check line” in the “Preparation before boot” section. Cable "two steps to re-boot the body before starting the work. Robot Fall Self-protection When using Unitree's official motion control program, if the robot is unstable and falls due to external 2018 Unitree All Rights Reserved...
  • Page 39 Go to the brakes to protect the parts. Emergency Braking (Before Using this Function, Make Sure that the Unitree Official Protection Frame and Rope are Used to Protect the Robot) Under the developer mode, if the robot is out of control, you can cut off the power of the built-in power distribution board of the robot by pressing and holding the OFF button for 1 second.
  • Page 40 A1 PRO User Manual How to turn off the robot when the remote control module fails When the remote control module fails (such as the power of the joystick exhausted), the robot can not be used to make the robot dog down until it is flat on the ground. You can only use the battery power button to force the shutdown (note! If you are not ready before the shutdown, it will easily cause the robot to power down and shoot the ground, causing serious damage to the robot).

  • Page 41: Disclaimer And Safe Use Guidelines

    A1 PRO User Manual Disclaimer and Safe Use Guidelines Environmental Requirements 1.Please do not operate the robot in an electromagnetic interference environment. Sources of electromagnetic interference include, but are not limited to, high voltage power lines, high voltage power stations, mobile telephone base stations, and television broadcast signal towers.

  • Page 42: Operational Considerations

    (The height of the body is low, and when the knee joint is relatively large, the burden on the motor is large, so the power consumption is significantly increased early, and the motor is heated). Copyright © 2020 Unitree Robotics. All Rights Reserved...
  • Page 43 (step is higher than 10cm, etc.), the slope is larger (greater than 25°), and the robot is used when there is a sharp object on the ground or the periphery. 11.Carefully grip the joints at the joints, such as the knee joint. Copyright © 2020 Unitree Robotics. All Rights Reserved...

  • Page 44: Battery Pack Safety Guidelines

    6.It is strictly forbidden to use the battery pack that is not officially provided by Unitree. For replacement, please check the Unitree website for relevant purchase information. Unitree is not responsible for battery pack accidents caused by the use of battery packs not supplied by Unitree.
  • Page 45 5.Keep the smart battery pack off when charging. 6.Smart battery packs must be recharged using a dedicated charger from Unitree. Unitree will not be responsible for any consequences of charging with a charger not supplied by Unitree.
  • Page 46 4.If you do not use the battery for a long time, please check the remaining battery power regularly. If the battery is lower than 30%, please charge the battery to 70% before saving. In order to avoid battery over-discharge and damage the battery. Copyright © 2020 Unitree Robotics. All Rights Reserved...

  • Page 47: After-Sales Policy

    1.After you purchase the A1 and other related products, robot warranty for one year, the warranty period starts from the day you receive the goods. 2.If the product of Unitree you purchased has exceeded the warranty period, you can also get our help by purchasing another service.

  • Page 48: Other Rules

    3.If the product does not conform to the condition of free maintenance, you will have to pay the service. Unitree will not start repair until you agree to the cost for repair. If you disagree with the cost for repair, Unitree will return the product(s) with you burdening the cost of return shipping.

  • Page 49: Appendix

    7. Power Output (5V，2A) ② ③ ⑦ ⑬ 8. Power Output (12V，2A) ⑧ ④ ⑨ 9. Power Output (19V，2A) 10. Ethernet Interface 2 11. MiniPC USB2.0 12. MiniPC USB3.0 13. MiniPC HDMI Copyright © 2020 Unitree Robotics. All Rights Reserved...

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