Unitree B1 - Page 25

B1 User Manual
© 2022 All rights reserved, Unitree Robotics 24
 Rocker back to center/neutral position: The rocker of the handle is in the middle position.
 Rocker amount: The deviation of the remote control rocker from the center of the rocker.
 Walls, doors, and other obstacles greatly weaken the signal between the robot and the remote control module. Please be
sure to operate the robot in an open space.
Robot and robot diagram:
Side view
Top view
Front view
Robot
Robot
diagram
Remote control command:
Key Effect
Left Rocker
Push forward/backward
Move back or forth/Prone position
Push left/right
Sideways movement/Twist
Right Rocker
Push forward/backward
Head up or down/Pitch
Push left/right
Left or right turn/ Shake head
START
Walking Mode
SELECT
Static Standing Mode
Position switch
L2+A
Lock the joints and get into a prone position
Return to standing position (locked joints)
L2+B
Damping state
L2+START
Walking mode (Mode 2)
Obstacle-crossing walking mode (Mode 3)
Foothold distance switch
R2+A
Large load space
R2+B
Normal space
Three movement states
Mode 1: Static Standing State
Normal standing, the users can push the rocker to twist the body
instead of moving.
Mode 2: Ordinary Walking Mode
The joystick can be pushed to move, the robot can be stopped to
stop moving, and the pusher can be moved again.
Mode 3: Obstacle Walking Mode
The obstacle can be moved by the joystick, stop pushing the robot
to stop moving, and the pusher can move again.

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