B1 User Manual
© 2022 All rights reserved, Unitree Robotics 31
Precautions for Operation
1) Standing state
In standing state, when the ground friction is insufficient or the robot's feet are not reliably supported, do not violently
control the robot to adjust its posture (including pitch, yaw, height adjustment, etc.), otherwise it may cause the robot to
lose stability and fall.
2) Walking status
Please control the robot walk under flat terrains. When walking on the ground with low friction, do not violently
control the robot to complete the movement, otherwise it may cause the foot end of the robot to slip and fall.
3) About cruising ability
The rated endurance of the robot is about 2-4h for the alternating operation of no-load static standing and upright
walking. The endurance time will be reduced according to the actual operating conditions of the robot, such as a long
time of fast walking, a long time of drastic adjustment of the body posture when the robot stands, a robot leg bending
standing, running with a load, walking at a lower height of the body, and terrain with appropriate fluctuations and slopes.
(When the height of the body is low and the bend of knee joint is relatively large, the burden of the motor is large, the
power consumption will increase significantly earlier, and accompanied by the motor heating).
4) About steps and undulating roads:
Considering that the robot does not use the visual perception system, and the users have different proficiency levels,
for the sake of reliability and stability, it is currently recommended that the users control the robot walk on steps no more
than 20cm, otherwise it may stumble due to improper operation. When encountering undulating ground, the users should
also be careful and slow down the robot.
5) About climbing
Rated forward climbing angle is less than or equal to 30°. When the robot does not use the visual perception system,
the robot body is likely to drift laterally when the climbing angle is large (about equal to or greater than 30°). Since the
visual perception system is not used, the robot is likely to be unstable if the users control the robot make a turn directly
on the slope. When climbing the slope, please reduce the walking speed and properly control the robot.
6) About speed
The maximum walking speed is 1.2m/s under the stable control of flat terrain.
7) About foot end components
The robot foot end components are consumables, and we will give spare foot end components with the robot. The
abrasion will be serious, especially running on rough ground. If it is found that the foot pad is worn out or damaged
obviously, or the impact noise on the ground is significantly increased when the robot is walking, please replace the foot
end components in time to prevent the robot from moving abnormally or falling due to the damage of the foot end
components.
8) About IP67/IP68 protection
Please make sure that the battery interface, battery compartment interface, battery surface and battery compartment
surface are dry before operation, and then install the battery to the robot body. 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.
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