Unitree B1 User Manual
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Unitree B1 User Manual

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User Manual V 1.0.1
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Summary of Contents for Unitree B1

  • Page 1 User Manual V 1.0.1 www.unitree.cc/cn...
  • Page 2 United may establish. To the fullest extent permitted by law, in no event does Unitree provide any express or implied commercial or technical warranties not covered herein, that the products/services provided are completely defect-free, that they are fully compliant with customer requirements, that there will be no problems or interruptions in the use of the products/services, and that Unitree will be able to completely repair these defects.

  • Page 3: Table Of Contents

    Introduction ................................. 5 Function Highlights ............................. 5 Body B1 ..................................6 Introduction ................................. 7 B1 Parts Name ..............................7 Foot End Components Description ........................8 Load Function Description ..........................8 System Architecture Description ........................9 Extended Interface Description ......................... 11 Operating Mode Description ..........................
  • Page 4 Safe Operation Guide ..............................34 Battery Pack Safe Operation Guide ........................35 Daily Maintenance ..............................38 Whole Machine Clean ............................39 Inspection and Maintenance ..........................39 After-sales Service and Policy ..........................41 Warranty Period Description ..........................42 Service Scope ..............................42 Disclaimer .................................

  • Page 5: Product Overview

    This chapter mainly introduces the functional characteristics of the product...

  • Page 6: Introduction

     Super large load capacity, universal helper The B1 has a very large load capacity, with a maximum standing load of 80kg and a continuous load of 20kg. It can meet various load demands in special and complex operations and become a universal and powerful helper for operators in emergencies.

  • Page 7: Body B1

    This chapter introduces the Body B1 and its functions...

  • Page 8: Introduction

    B1 User Manual Introduction The B1 quadruped robot with industrial protection level has installed 5 sets of Intel D430 depth cameras, which can sense the surrounding environment and terrain; It equipped with 3 NVIDIA NX computing power cards to provide super AI computing power;...

  • Page 9: Foot End Components Description

    Load Function Description The B1 has a very large load capacity, with a maximum standing load of 80kg and a continuously working load of 20kg. When the robot load is relatively large, the height of the robot's standing and walking will become shorter, which will adversely affect the heating of the knee motor.

  • Page 10: System Architecture Description

    Motor[3] Hardware interface: Interface is provided in the back cover of B1 for users, through which developers can directly access to Mini PC and NX controller. The hardware interface is shown in the figure, in which the head NX controller does not open the Type-C and HDMI interface.
  • Page 11 The back cover of B1 also provides two interfaces, namely the main processor Type-C interface and the coprocessor Type-C interface. The PC can be directly connected to the B1 core controller through these two interfaces. The main processor interface and coprocessor interface are used for: ...

  • Page 12: Extended Interface Description

    B1 User Manual Extended Interface Description The back of the B1 provides sdk expansion interfaces to develop more extended functions for users. It includes 3 input interfaces (Gigabit Ethernet interface, Type-C interface, power interface), 7 Gigabit Ethernet extension interfaces, 5 Type-C extension interfaces, and 10 power extension interfaces. The sdk expansion interfaces are as shown in the figure below.

  • Page 13: Operating Mode Description

    Protection Level Description The B1 quadruped robot with industrial protection level is used with B1 special battery pack, and the protection level is not less than IP67. The degree of protection is not permanent and may be degraded by long term use. Please make sure that the interface of the battery, interface of battery compartment, surface of battery, and surface of battery compartment are dry and free of water, and then install the battery pack into the robot.

  • Page 14: Autonomous Charging Description(Optional)

    The Self-charging Version of B1 (optional) is equipped with two charging electrodes at the bottom of the fuselage and is used with the B1-contact charger.
  • Page 15 2) Charging: When using the contact charger to charge, first use the remote control to control the robot to lie down, so that the bottom 2 charging electrodes of the B1 robot are in contact with the charging plate 2 charging electrodes to achieve charging, and the button on the lithium battery charger can switch between fast charging and slow charging.

  • Page 16: B1 Battery Pack

    This chapter describes the Unitree B1 battery pack and the use of it.

  • Page 17: Description

    Unitree Robotics to provide sufficient power for B1 quadruped robot. Battery packs must be charged by using a special charger provided by Unitree Robotics.  Before using the battery pack for the first time, make sure that the battery packs are fully charged before using at the...

  • Page 18: Technical Specifications

     Before using the battery pack, please read and strictly abide by requirements made by Unitree Robotics in the manual, the disclaimer, the sticker on the surface of the battery pack and the surface of the special charger. The consequences of not using it as required shall be borne by the users.

  • Page 19: Battery Indicator

    7) The temperature of the battery pack may be high after running, t, and the battery pack must be charged after the temperature of the battery pack has dropped to room temperature. © 2022 All rights reserved, Unitree Robotics...

  • Page 20: Precautions For Use

    3) Stop using the robot as soon as possible and replace the battery pack with a new one or charge the battery pack when only one bar of battery flashes. 4) Before installing or removing the battery pack in the B1 battery compartment, please make sure that the battery pack is closed, otherwise the battery pack or the robot will be damaged.

  • Page 21: Remote Control

    This chapter introduces the Unitree Robotics remote control and its use.

  • Page 22: Introduction

    B1 User Manual Introduction The remote control is part of the B1 remote control module, and the remote control handle has a installed digital transmission module and a bluetooth module. The robot dog communicates with the remote control through the data transmission module to achieve one-to-one correspondence, and remote control can be connected when the robot is on.

  • Page 23: Remote Control Handle Rocker Calibration

    4) When the battery indicator lights are all off, it means that the battery pack is fully charged, please remove the charger to complete the charging. Charging Indicator Light LED1 LED2 LED3 LED4 Current Battery 0%-25% 25%-50% 50%-75% 75%-100% Full Charged © 2022 All rights reserved, Unitree Robotics...

  • Page 24: Remote Control Basic Operation

    B1 data transmission module, and B1 can be controlled by the remote control at this time. When the rocker of the remote control is used to control B1, the control mode of the rocker is divided into standing control and walking control.
  • Page 25  Mode 1 press START to enter Mode 2, Mode 2/Mode 3 press SELECT to enter Mode 1.  Mode 2, in static state, press L2+START to switch to Mode 3  Mode 3, in stop state, press L2+START to enter Mode 1 © 2022 All rights reserved, Unitree Robotics...

  • Page 26: Running

    This chapter introduces how to run the B1 robot and related precautions.

  • Page 27: Note Before Review

    © 2022 All rights reserved, Unitree Robotics...

  • Page 28: Check Before Power On

    1) Installing Battery Packs Put the B1 on the flat ground and install the battery pack into the battery slot from the side of the robot dog. Pay attention to the installation direction. If the battery pack cannot be fully inserted, please adjust the direction of the battery packs and do not press forcibly to avoid damage to the battery interface and buckle.
  • Page 29 Shortly press+ Long press Automatic connection: Both the remote control and the robot are in the power-on state and the left digital signal light is all on, which indicating that the connection is successful. © 2022 All rights reserved, Unitree Robotics...

  • Page 30: Power On/Remote Control

    11) L1+L2: Lock the B1 remote control, in which case the remote control will not be able to control B1. Press L1+L2 to control B1 again. This button requires B1 to be used with the Z1 robotic arm, and the remote control can be switched to the control robotic arm.

  • Page 31: Power Off

    Be careful to pinch your hands at the movement joints, please be careful!  © 2022 All rights reserved, Unitree Robotics...

  • Page 32: Precautions For Operation

    Please clean the surface of the robot after operation in rainy weather. 9) Do not touch the robot dog during exercise! Carefully pinch hands at joints, such as knee joints. © 2022 All rights reserved, Unitree Robotics...

  • Page 33: Robot Abnormal Condition Description

    Common Problems and Solutions When using the B1 quadruped robot, the robot may be abnormal. Most abnormal situations are controllable (there are solutions). The users should not panic when encountering these problems. Read the following contents in detail and solve the problems step by step.
  • Page 34 B1 User Manual Common posture and leg lifting suggestions in use Posture Body height Suggested leg lifting Static standing state Lie down Large load spacing movement Obstacle-crossing walking status Normal walking state Damping state © 2022 All rights reserved, Unitree Robotics...

  • Page 36: Battery Pack Safe Operation Guide

    11) It is forbidden to disassemble or puncture the battery pack in any way. 12) If the battery pack is seriously impacted by external forces, it cannot be used again until it is delivered to Unitree Technology for official inspection.
  • Page 37 5) Please keep the intelligent battery pack closed when charging. 6) The intelligent battery pack must be charged with a special charger officially provided by Unitree Robotics. Unitree Robotics will not be responsible for all the consequences caused by using a charger not officially provided by Unitree Robotics.
  • Page 38 Be sure to completely discharge the battery pack before placing it in the specified battery pack recycling box. Battery packs are hazardous chemicals, which are forbidden to be discarded in ordinary garbage cans. For details, please follow local laws and regulations on battery pack recycling and disposal. © 2022 All rights reserved, Unitree Robotics...

  • Page 40: Whole Machine Clean

     Storage The B1 should be stored in a dry and cool room and away from the sun and rain to avoid the corrosion of parts and shorten the service life span. Take out the battery pack when storing for a long time.
  • Page 41  It is recommended to do the above inspection before each use!  If any parts are damaged and need to be replaced, please contact Unitree Robotics after-sales service in time! © 2022 All rights reserved, Unitree Robotics...

  • Page 43: Warranty Period Description

    B1 User Manual Warranty Period Description 1) After the users purchase the whole B1 robot and other related products, the whole robot is guaranteed for one year, and the warranty period starts from the day the users receive the goods.

  • Page 44: Disclaimer

    2) After receiving the defective products, you need to guarantee, Unitree Robotics will test the products to determine the problems and responsibilities. If it is a quality defect of the product itself, Unitree Robotics will be responsible for the cost of testing, materials, labor, and express delivery.
  • Page 45 5) Product maintenance may cause data loss. Please back up your data first. 6) Please do not return severely damaged battery packs; If you have sent it back, Unitree Robotics will scrap the battery pack and not return it.

  • Page 47: Packing Lis

    B1 User Manual Packing Lis The B1 quadruped robot is equipped with the following parts, including a list of items and gifts, please check that they are all complete!  The following pictures are for reference only. If the pictures are different from the actual objects, please refer to the actual objects.
  • Page 48  Please carefully check whether the items in the box are complete and intact. If there is any problem such as missing or damaged, please contact the Unitree Robotics official after-sales service in time. © 2022 All rights reserved, Unitree Robotics...

  • Page 49: Product Parameter Information

    Features and equipment Smart robotic arm, autonomous charging, PTZ camera, 3D radar, radar-based SLAM Optional algorithm, visual recognition algorithm More information: For details, please refer to the Unitree Robotics official website Chinese:http://www.unitree.cc/cn/ English:http://www.unitree.cc/ © 2022 All rights reserved, Unitree Robotics...

  • Page 50: Remote Quick Lookup Table

     Mode 1 press START to enter Mode 2, Mode 2/Mode 3 press SELECT to enter Mode 1.  Mode 2, in static state, press L2+START to switch to Mode 3  Mode 3, in stop state, press L2+START to enter Mode 1 © 2022 All rights reserved, Unitree Robotics...

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