A1 Quadruped Robot; Overview; Robot Operating Mode - Unitree 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）
Smart battery
Master controller
IMU
Leg[FR]:
Leg[FL]:
Motor[1] Motor[1]
Motor[2] Motor[2]
Motor[3]
Motor[3]
supports the following operating states and operating modes:
Static Standing State:
The static standing state refers to the initial height of the robot body position after the start-up, the body
level, and the joystick has no operation state. In this state, the power consumption of the whole machine
is the smallest, and the longest battery life can be achieved.
"A"Mode（3-Axis Attitude And 3-Axis Position Control While Standing）：
When the robot is standing, the joystick can be used to control the robot in 3-axis attitude and 3-axis
position. Including the body pitch, body roll, body yaw, continuous squat, jog-type squat, continuous
standing, jog-up, and various combinations.
"W"Mode（Walking）：
When the robot is in W mode, the robot can realize the step by step without manipulating the joystick;
the joystick can realize the forward and backward movement, the left and right side shift, the in-situ
turning, and the walking according to certain rules on the flat ground (straight line, circle, arc ,
Rectangular), crawl forward, up and down slope/step, large-scale Push Recovery, etc., also has super
adaptability to irregular terrain, the maximum walking speed is 3.3 m / s.
"Sport"Mode :
When the robot dog is standing (in A mode), holding down the L2 key, single-click the B key, the robot
dog squats and lays on the ground, enters the damping mode; then hold down the L1 key, single-click
Power management
Ethernet switch
485
Leg[RR]: Leg[RL]:
Motor[1] Motor[1]
Motor[2] Motor[2]
Motor[3] Motor[3]
Onboard built-in host
（Raspberry Pi 4）
Optional built-in host
（TX2, etc.）
External user personal
PC，etc.
2018 Unitree All Rights Reserved
A1 PRO User Manual
Sensor（realsense
USB etc.）
11