Unitree A1 - Sport Mode: Fast Running Actions; Activating Fast Running Mode; Fast Forward;Backward Movement; Fast In-situ Circling

5.Basic Action Under “Sport Mode”(fast-running)
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The Position of Stick or
Button on Joystick
Operation Diagram
Robot Schematic
Remarks
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L1 Button START Button
L1 Button START Button
In the sport mode (When the robot steps), after
holding down the L2 key, click the START key once,
the robot enters the fast running state.
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Left Stick
Left Stick
The left stick is used to control the robot to move
forward and backward.
In the fast-running state, push the rod upward, and
the robot runs forward. Pulling the lever down, the
robot runs backward. In the neutral position, the
robot jumps quickly in place.
The amount of the joystick corresponds to the
running speed. The greater the amount of the stick,
the greater the running speed (please push and pull
the lever slowly to prevent the robot from moving
forward and backward suddenly).
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Left Stick
Left Stick
The left Stick is used to control the robot to circle in
the in-situ state.
In the fast-running state, 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 trotting
on the ground.
The more the stick is pushed away from the center
position, the faster the robot will rotate.
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Right Stick
Right Stick
The right Stick is used to control the robot's lateral
movement.
In the fast-running state, 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 trotting on the ground.
The more the stick is pushed away from the center
position, the faster the robot will move.
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Left Stick
Left Stick
The left Stick is used to control the arc (circle) of the
robot.
In the fast-running state, push stick in the upper right
direction, the robot will go to the right front arc. If you
hold on the direction of stick, the robot will go
forward and circle clockwise. Push stick to the lower
left, the robot will take the arc to the right. If hold on,
the robot will retreat and move counterclockwise. The
angle between the Stick and the horizontal line
corresponds to the walking radius of the robot. The
larger the angle, the larger the radius.
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Left Stick
Left Stick
The left Stick is used to control the arc (circle) of the
robot.
In the fast-running state, push stick to the upper left
direction, robot will take the arc to the left front. If
hold on, the robot will go forward and rotate
counterclockwise. Push Stick to the lower right, the
robot will take the arc to the left. If hold on, the robot
will retreat and move clockwise. The angle between
the Stick and the horizontal line corresponds to the
walking radius of the robot. The larger the angle, the
larger the radius.