The Unitree A1 PRO is a high-performance quadruped robot designed for various applications, including real-time image transmission, character following, obstacle avoidance, navigation planning, autonomous positioning, and map construction. It features a robust mechanical structure and advanced control systems, making it suitable for both scientific exploration and field-level applications.

Function Description

The A1 PRO consists of a quadruped robot, a remote control, and remote control software. It boasts 12 Degrees of Freedom (DOF), powered by 12 high-performance servo motors, and utilizes force control technology for compound control of force and position at each joint. The robot is capable of various operating modes:

Static Standing State: The robot maintains an initial body height and level with no joystick operation, minimizing power consumption for extended battery life.
"A" Mode (3-Axis Attitude and 3-Axis Position Control While Standing): In this mode, the joystick allows control over the robot's 3-axis attitude and position, including body pitch, roll, yaw, continuous squat, jog-type squat, and various combinations.
"W" Mode (Walking): The robot can walk step-by-step without joystick manipulation. The joystick enables forward/backward movement, left/right side shifts, in-situ turning, and walking along predefined paths (straight line, circle, arc, rectangular). It can also crawl forward, navigate slopes/steps, and perform large-scale Push Recovery, demonstrating high adaptability to irregular terrain. The maximum walking speed in this mode is 3.3 m/s.
"Sport" Mode: Activated by holding L2 and single-clicking B, the robot squats and enters damping mode. Holding L1 and single-clicking START enters sport mode, characterized by an audible current sound and the robot standing up. This mode offers strong adaptability to irregular terrain, with a maximum motion speed of 3.3 m/s.
"SLAM" Mode: This mode supports climbing (terrain following) and can be activated by pressing the A button. The robot can be manipulated to climb, with a rated forward climbing angle of less than or equal to 22°.

The robot integrates a multi-eye depth camera for intelligent applications like 720P/30fps real-time image transmission and character following. Optional lidar allows for advanced functions such as dynamic obstacle avoidance, navigation planning, autonomous positioning, and map construction. An optional NVIDIA TX2 can be used for visual SLAM and gesture recognition. The A1 PRO also supports APP control for Android and iOS devices.

Important Technical Specifications

Degrees of Freedom (DOF): 12 (12 high-performance servo motors)
Maximum Joint Speed: 21 rad/s (in Sport mode)
Maximum Walking Speed: 3.3 m/s (in "W" and "Sport" modes)
Joint Torque: 33.5 NM
Image Transmission Quality: 720P / 30fps
Rated Forward Climbing Angle: ≤ 22°
Battery Capacity: 4200 mAh
Battery Voltage: 21.6 V
Charging Current: Max 4A
Operating Temperature (Battery): 5 °C to 40 °C (charging: 5 °C to 55 °C)
Robot Leg Height Adjustment: 4-8 cm (initial 5 cm)
Obstacle Avoidance: Steps above 5cm, slopes greater than 25° (recommended avoidance)

Usage Features

Unpacking and Packing: The robot is shipped with its legs folded. Users must rotate the hip motors to position the rear thighs and close the lower legs, securing them with Velcro straps. The front legs are folded similarly. For packing, the robot is placed in the lower case, ensuring rear thighs engage A and B slots, and accessories are secured in the upper case.
Battery Installation: The battery pack slides into the robot's slot. Proper direction is crucial to avoid damage. Full charge is recommended before first use.
Remote Control Module: The remote control includes a joystick and supports mobile phone connection via Bluetooth. It automatically connects to the robot's data transmission module upon startup. The mobile phone APP can display connection status.
WIFI Hotspot: The robot creates a 5G WIFI hotspot (UnitreeRoboticsA1-XXX) for image transmission. The password is "00000000".
Startup: Short press the power switch once, then press and hold for 2 seconds to turn on the battery. The green indicator light confirms power-on. The robot performs a self-test and stands up if successful.
Shutdown: In Static Standing State, hold L2 and click A three times for squat, stand, and lie down. Hold L2 and click B twice for prone (damping) and prone (undamped) actions. After prone (undamped), press the power switch once, then press and hold for 2 seconds to turn off.
Joystick Calibration: Hold the remote control without touching the joystick, then press F1 and F3 simultaneously. A continuous "drip~" sound indicates calibration mode. Move joysticks to full rudder and rotate several times until the sound stops. Press F3 to save.
Emergency Braking: In developer mode, hold the OFF button for 1 second to cut power. This will cause the robot to drop, potentially causing damage if not protected by a frame and rope.
Forced Shutdown (Remote Control Failure): If the remote control fails, the robot cannot be commanded to lie down. Users must pass a nylon belt through the robot's suspension board, hold it tightly, then short press and hold the power switch for 2 seconds to turn off the robot, slowly lowering it to the ground. This method can cause serious damage if not prepared for.
APP Interface: The UnitreeRobotics APP provides a "Gamepad List" for connecting to the robot, displaying battery and speed. The "Vision" interface shows robot perspective and depth mode (distance to objects). "Track" mode allows selecting a person in the image for the robot to follow. The "SLAM" interface updates maps in real-time using lidar data, allowing users to select a destination for autonomous navigation.

Maintenance Features

Battery Pack Safety:
- Fully charge before each use.
- Avoid mechanical impact, puncture, or short-circuiting.
- Do not use if damaged, bulged, or leaky.
- Store in a well-ventilated, empty place, allowing it to cool naturally after use.
- Keep away from liquids and damp environments.
- Use only Unitree-provided battery packs and chargers.
- Store between 22°C and 28°C (operating between 5°C and 40°C).
- Do not use in strong magnetic or static environments.
- Do not disassemble or puncture.
- In case of leakage, avoid contact with liquid; rinse skin/eyes immediately and seek medical attention.
- If severely impacted, do not use until officially inspected.
- If on fire, use solid-state fire-fighting equipment (water, sand, fire blanket, dry powder, CO2 extinguisher).
- Do not place in a pressure cooker, microwave oven, or on a conductor plane.
- Wipe dirt from connectors with a dry cloth.
Charging:
- Connect the charger to an AC power source (100-240V, 50/60Hz), ensuring voltage compatibility.
- Plug the charger into the battery pack when the battery is off.
- Charge in line of sight, in a cool environment, away from flammable materials.
- Disconnect the charger once the battery pack is full.
- Allow the battery pack to cool to room temperature before charging if the robot has been running.
- Regularly check and maintain the charger and battery pack. Do not use alcohol or flammable agents for cleaning.
Foot Assembly: The foot end components (base, rubber pad, air needle) are consumables with a service life of 2-6 months, depending on usage. Replace if worn, damaged, or if increased impact noise is observed during walking. Replacement involves removing screws, gently rotating the air needle and rubber trachea, attaching new components, and tightening screws.
Firmware Updates: Ensure firmware and APP are updated to the latest versions for optimal performance and new features.
Robot Black Box: Records IMU data, joint angles, joint speeds, force sensor data, and control commands to help diagnose malfunctions and determine warranty coverage.
General Maintenance:
- Use only genuine Unitree parts.
- Ensure all parts are in good working order.
- Check robot cables for damage, disconnections, or pinching.
- Keep the robot within sight during operation, maintaining a 2-meter safe distance from obstacles, crowds, water, etc.
- Avoid carrying the robot when powered on.
- Do not use on surfaces with insufficient friction (ice, soft ground, thick sponge floors).
- Operate in open, flat environments, avoiding steps above 5cm and slopes greater than 25°.
- Reduce walking speed on uneven terrain.
- Do not use in bad weather (fog, snow, rain, lightning, sandstorms, storms, tornadoes).
- Avoid electromagnetic interference environments.
- Avoid WiFi signal interference by turning off other wireless devices.
- Do not operate under the influence of drugs or alcohol.
- Do not allow foreign objects (water, oil, sand, earth) inside the robot.
- Do not use the robot if the battery level is low (one bar remaining).
- Do not lift the robot in sport mode to prevent unpredictable actions.
- Do not use the roll function with lidar configured.
- Do not push or kick the robot suddenly.
- Do not use actions marked as "not recommended" in Sport and SLAM modes, as they can cause falls and damage.

Unitree A1 PRO - Page 5

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