Unitree A1 Quick Start Manual page 11

The Position of Stick or
NO
Button on Joystick
START Key
17
Left Button
18
Left Stick
19
Left Stick
20
Right Stick
21
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3.Basic Action under "Sport mode" (walking)
Operation
Robot Schematic
Diagram
START Key
Left Button
Left Stick
Left Stick
Right Stick
Remarks
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.
Press the START button to turn on the step function and the robot
enters the W mode. Press the START button again and the robot
switches to the static standing state.
The left button is used to correct the phenomenon that the robot
IMU drifts heavily.
In the Sport mode (turning on the local step function), there is no
joystick operation, and if there is a left or right drift when the robot
is stepping on the ground, the IMU needs to be corrected. If the
robot drifts to the right (left), press the left (right) button once, and
observe the IMU correction after 3 seconds. If it is still drifting,
continue to repeat until the drift is not obvious (the reaction time of
the button takes 3 seconds)
The left Stick is used to control the forward and backward
movement of the robot.
In Sport mode, Push stick up, the robot moves forward. Push stick
down, the robot moves backward. When in the middle position, the
robot walks at zero speed and steps on the ground.
The more the stick is pushed away from the center position, the
faster the robot will move. (please push the Stick slowly to prevent
the robot from suddenly moving forward or backward).
The left Stick is used to control the robot to circle in the in-situ state.
In Sport mode, push stick to left, the robot steps back and turns
counterclockwise. Push stick to right and the robot steps back and
turns clockwise. When in the middle position, the rotational angular
velocity of the robot is zero and the robot is stepping on the
ground.
The more the stick is pushed away from the center position, the
faster the robot will rotate..
The right Stick is used to control the robot's lateral movement.
In Sport mode, push stick to left, the robot moves to the left. push
stick to the right, the robot moves to the right. When in the middle
position, the speed is zero and the robot is in place.
The more the stick is pushed away from the center position, the
faster the robot will move.