Unitree A1 - Sport Mode: Special Actions (A Mode); 180° Roll and Movement; 360° Roll and Joint Locking; Manual Handling with Locked Joints

2.Combined Action and Special Action under “A Mode”
NO
The Position of Stick or
Button on Joystick
Operation Diagram
Robot Schematic
Remarks
13
L2 Button
Right Button-“X”Button
L2 Button
Right Button-“X”Button
When the robot dog is standing in Sport mode, when
the robot is lying on its back, hold down the L2 key
and press the X key to roll the robot 180° to the right.
After rolling, the robot is in the supine state and the
joints are in the high-damping state. Hold down the
L2 key and press the single right button-a button to
perform semi-squat and standing movements
successively. Press START to release the joint locking
state and enter the normal operation mode.
Note:Do not use this function after configuring lidar,
otherwise the lidar or robot will be damaged.
14
L2 Button
Right Button-“Y”Button
L2 Button
Right Button-“Y”Button
When the robot dog is standing in Sport mode, press
L2 and then Y and the robot rolls 360° to the
right.After rolling, the robot is in the supine state and
the joints are in the high-damping state. Hold down
the L2 key and press the single right button-a button
to perform semi-squat and standing movements
successively. Press START to release the joint locking
state and enter the normal operation mode.
Note:Do not use this function after configuring lidar,
otherwise the lidar or robot will be damaged.
15
L2 Button
Right Button-“A”Button
L2 Button
Right Button-“A”Button
When the robot dog is standing in Sport mode, after
holding down the L2 key and repeatedly clicking the
right button-A button, the robot joint will be locked .
When the robot in half squatting state, the joint will
be locked, and robot can manually raised from one
place to another place.
Note: Press the L2+A button only when the robot is
in a static standing position. Do not press the L2+A
button while walking, otherwise the robot will fall and
be damaged.
16
L2 Button
Right Button-“B”Button
L2 Button
Right Button-“B”Button
After holding down the L2 key and single-clicking the
B key, the robot will enter the zero torque mode (in
this mode, the remote control can be used to
calibrate the joint zero point; in this mode, the
remote control L1+B can be used to calibrate the IMU
installation error)