B2 Robot Tutorial

The provided tutorial will assist you with setting up and operating your B2 quadruped robot. The tutorial topics are listed in the left column and presented in the suggested reading order.

The Unitree B2 is an innovative quadruped robot designed for exceptional agility, adaptability, and durability. Developed by Unitree Robotics, the B2 features advanced sensors, powerful computing capabilities, and a robust modular design, making it well-suited for diverse applications such as industrial inspection, search and rescue, surveillance, and academic research. Whether maneuvering through challenging environments or executing complex tasks, the B2 integrates state-of-the-art technology with outstanding functionality, redefining the standards of modern robotics.

Joint Mobility

The Unitree B2 features advanced joint mobility, powered by high-torque actuators that enable precise and dynamic movement. Each joint is designed with high power density and precision control, allowing the robot to execute agile and stable locomotion across various terrains.The B2’s joint actuators incorporate advanced force feedback and torque control, enabling smooth transitions between walking, running, and climbing. This adaptive mobility ensures the robot can navigate uneven surfaces, obstacles, and slopes** while maintaining stability. Additionally, the high-speed joint response enhances real-time adjustments, making it capable of rapid motion changes for industrial and research applications. With modular and reinforced joint structures, the B2’s leg mobility supports both flexibility and durability, ensuring long-term reliability even under high-load conditions. This makes it well-suited for autonomous exploration, logistics, and industrial inspection tasks where high mobility is crucial.

AI-Driven Learning and Adaptation

The Unitree B2 uses AI-driven learning to enhance autonomy and efficiency. Equipped with deep learning and reinforcement learning, it continuously improves navigation, obstacle avoidance, and locomotion across complex terrains.Its sensor fusion system, combining depth cameras, LiDAR, and IMUs, enables real-time SLAM and intelligent decision-making. The B2 adapts its gait using reinforcement learning, optimizing stability and agility on various surfaces.With gesture recognition and human-robot collaboration, the B2 enhances industrial and security applications. Cloud-based learning further refines performance, making it a versatile and intelligent quadruped for advanced automation and research.

Technical Specifications

Body and Dimensions
Weight: 60 kg (Incliding Battery)
Standing Height: 645 mm
Folded Height: 758 mm
Total Degrees of Freedom: Up to 12

Perception and Sensing
360° Detection: Equipped with 3D LIDAR and depth camera.
Cameras: Intel RealSense D435i for depth sensing.
Cameras: Optical Cameras
LIDAR: RS-Helioshelios 5515 for precise mapping.

Mobility and Power
Movement Speed: Up to 5m/s
Battery Life: Approx. 3 hours 20 minutes with a 13-string lithium battery.
Battery Weight: 12.2kg
Battery Capacity: 45Ah (2268Wh)
Quick Release Battery: Long-lasting power and easy replacement.

Model Variants

B2: Standard model with 12 degrees of freedom and normal foot.

B2-W: The wheeled model features specialized wheeled feet, combining speed, adaptability, and cutting-edge design. Engineered to navigate various terrains and tackle complex tasks with ease, it pushes the boundaries of robotic mobility, offering enhanced efficiency and versatility in motion.

Model	B2	B2-W
Mechanical Dimensions
Height, Width and Thickness (Stand)	1098mm×450mm×645mm	1098mm×550mm×758mm
Height, Width and Thickness (Fold)	880mm×460mm×330mm	950mm×550mm×450mm
Weight (With Battery)	About 60kg	About 85kg
Total Degrees of Freedom (Joint Freedom)	12	12
Single Leg Degrees of Freedom	3	3
Maximum Torque of Knee Joint	360N.m	360N.m
Maximum Standing Load	About 40Kg	About 40kg
Continuous Walking Load	About 120Kg	About 120kg
Joint Movement Space Hip joint: Thigh joint: Calf joint:	-0.87~0.87° -0.94~4.69° -2.82~ -0.43°	-0.87~0.87° -0.94~4.69° -2.82~ -0.43°
Electrical Characteristics
Full Joint Hollow Electrical Routing	YES	YES
Joint Encoder	Dual encoder	Dual encoder
Cooling System	Local air cooling	Local air cooling
Power Supply	13 string lithium battery	13 string lithium battery
Basic Computing Power	Intel Core i5 (platform function) and Intel Core i7 (user development) CPU	Intel Core i5 (platform function) and Intel Core i7 (user development) CPU
Sensing Sensor	Depth Camera+ Optical camera+ 3D LiDAR	Depth Camera+ Optical camera+ 3D LiDAR
WiFi 6, Bluetooth 5.2	YES	YES
Accessories
High Computing Power Module	NVIDIA Jetson Orin NX (optional)	NVIDIA Jetson Orin NX (optional)
Smart Battery (Quick Release)	45Ah	45Ah
Charger	58.8V 10A	58V 10A
Manual Controller	YES	YES
Enviroment
Operating Temperature | -20℃~55℃		-20℃~55℃
Climbing Angle	> 45°	> 45°
Maximum Step Height	20~25cm	20~25cm
Maximum Jumping Distance	> 1.6m
IP67 Protection	YES	YES
Others
Battery Life	About 4~6h | About 4~6h
Upgraded Intelligent OTA	YES	YES
Secondary Development	YES	YES
Maximum speed	> 6m/s	50rad/s

important:

The listed parameters may vary based on configuration and usage scenarios. Please refer to actual operating conditions for precise specifications.

The quadruped robot features a complex structure and advanced capabilities. Users should maintain a safe distance and operate it with caution.

In case of any modifications to the product’s appearance, the actual product should be considered as the reference.

Some features mentioned on this page are still under development and testing. They will be released to users in future updates.

This product is designed for civilian use only. Users must avoid making hazardous modifications or utilizing the robot in unsafe ways.

For further details on terms, policies, and compliance with local laws and regulations, please visit the Unitree Robotics website.