Quick Start =========== Startup Procedure ----------------- Startup from Supine Position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Step 1: Pre-start Checks ^^^^^^^^^^^^^^^^^^^^^^^^ Before powering on, place the **R1** flat on the ground with its **front side facing upward**. Ensure the surrounding area is clear of people and obstacles. Arrange the robot’s arms and legs in a natural, relaxed posture as illustrated in the reference figure. .. figure:: media/figures/r1_startup_1.png :width: 80% :align: center :alt: R1 Startup | Step 2: Install the Battery Pack ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Insert the battery pack into the battery compartment from the **side of the robot**. Ensure the **power switch is facing toward the front** of the R1. If the battery does not slide in smoothly, remove it and adjust the orientation. **Do not apply force**, as this may damage the battery connector or locking mechanism. A clear *click* sound indicates successful installation. Confirm that the latch is fully secured. +--------------------------------------------------------------------+-------------------------------------------------------------------+ | .. figure:: media/figures/r1_startup_2.png | .. figure:: media/figures/r1_startup_3.png | | :width: 90% | :width: 100% | | :align: center | :align: center | | :alt: Installation Hole Position | :alt: Installation Hole Position | | :class: mbsrounded | :class: mbsrounded | | | | | Inserting Battery | Powering On | +--------------------------------------------------------------------+-------------------------------------------------------------------+ Step 3: Power On ^^^^^^^^^^^^^^^^ After confirming that the robot is correctly positioned and the area is clear, power on the battery using the following sequence: 1. Briefly press the battery power button once. 2. Press and hold the button for **more than 2 seconds** to turn on the battery. .. figure:: media/figures/r1_startup_4.png :width: 60% :align: center :alt: R1 Startup | Step 4: Start the Robot ^^^^^^^^^^^^^^^^^^^^^^^ After the power-on sequence, wait approximately **1 minute** until the R1 enters the **zero-torque state**. Make sure the environment remains unobstructed during this process. Press **L2 + UP** to switch the robot into the *standing preparation* posture. Firmly hold the handle located at the back of the R1’s shoulders and assist the robot as it rises to a standing position. .. figure:: media/figures/r1_startup_5.png :width: 80% :align: center :alt: R1 Startup | .. warning:: Do not release the robot at this stage. The R1 cannot actively maintain balance while entering the standing posture. Once the robot is fully upright, press **R2 + A** to enter the *walking/running motion control* mode. At this point, the robot can actively balance itself and you may safely let go. .. figure:: media/figures/r1_startup_6.png :width: 100% :align: center :alt: R1 Startup | Emergency Stop ^^^^^^^^^^^^^^ If the R1 enters an abnormal or unsafe state, press and hold **L2 + B** for **more than 5 seconds**. The robot will switch to a damping mode and gradually lower itself to the ground. Startup from Standing Position ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Step 1: Pre-start Checks ^^^^^^^^^^^^^^^^^^^^^^^^ Before powering on, suspend the **R1** using a suitable **support frame**, with the robot’s front facing forward. Verify that the surrounding area is clear of people and obstacles. Arrange the arms and legs in a natural resting posture as illustrated in the reference figure. .. figure:: media/figures/r1_startup_7.png :width: 35% :align: center :alt: R1 Startup | Step 2: Install the Battery Pack ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Insert the battery pack into the battery compartment from the **side of the robot**. Ensure the **power switch is oriented toward the front** of the R1. If the battery does not insert smoothly, remove it and adjust the orientation. **Do not force the battery**, as this may damage the connector or locking mechanism. A distinct *click* confirms successful installation. Verify that the latch is fully engaged. +--------------------------------------------------------------------+-------------------------------------------------------------------+ | .. figure:: media/figures/r1_startup_8.png | .. figure:: media/figures/r1_startup_9.png | | :width: 90% | :width: 100% | | :align: center | :align: center | | :alt: Installation Hole Position | :alt: Installation Hole Position | | :class: mbsrounded | :class: mbsrounded | | | | | Inserting Battery | Powering On | +--------------------------------------------------------------------+-------------------------------------------------------------------+ Step 3: Power On ^^^^^^^^^^^^^^^^ After completing the pre-start checks and confirming that the area around the robot is clear, power on the battery using the following sequence: 1. Briefly press the battery power button once. 2. Press and hold the button for **more than 2 seconds** to turn on the battery. .. figure:: media/figures/r1_startup_10.png :width: 60% :align: center :alt: R1 Startup | Step 4: Start the Robot ^^^^^^^^^^^^^^^^^^^^^^^ After the short press followed by the long press, wait approximately **1 minute** until the R1 enters the **zero-torque state**. Ensure the surroundings remain unobstructed during this time. Press **L2 + UP** to enter the *standing preparation* posture. Firmly hold the handle at the back of the R1’s shoulders, then release the **quick-release clamp** on the support frame. Gradually lower the support bracket to allow the robot’s feet to make contact with the ground, assisting the robot as it transitions to a standing position. .. figure:: media/figures/r1_startup_11.png :width: 40% :align: center :alt: R1 Startup | .. warning:: Do not release the robot during this step. The R1 is not yet capable of actively maintaining balance. Once the robot is upright and stable, press **R2 + A** to enter the *walking/running motion control* mode. At this point, the robot can actively balance itself and you may safely let go. .. figure:: media/figures/r1_startup_12.png :width: 100% :align: center :alt: R1 Startup | Emergency Stop ^^^^^^^^^^^^^^ If the R1 enters an abnormal or unsafe condition, press and hold **L2 + B** for **more than 5 seconds**. The robot will switch to a damping mode and gradually lower itself to the ground. Shutdown Procedure ================== Powering Down the R1 -------------------- Before shutting down the R1, move the robot to an open area, ensuring there is enough space behind it. Grasp the rear handle and press **L2 + UP** to bring the R1 into its standing preparation posture. *Do not release the handle at this stage*, as the robot cannot maintain balance on its own. Steps to shutdown: 1. Gently lay the R1 on its back on a flat surface. 2. Press **L2 + Y** to activate zero-torque mode. 3. Briefly press the battery power switch, then press and hold it for more than 2 seconds to turn off the robot. After powering down, adjust the robot's arm and leg joints according to the required body positioning for the next startup. +--------------------------------------------------------------------+-------------------------------------------------------------------+ | .. figure:: media/figures/power0ff_1.png | .. figure:: media/figures/power0ff_2.png | | :width: 100% | :width: 100% | | :align: center | :align: center | | :alt: remove battery | :alt: remove battery | | :class: mbsrounded | :class: mbsrounded | | | | +--------------------------------------------------------------------+-------------------------------------------------------------------+ **Important:** If the R1 will remain unused for a long period, remove the battery pack immediately. Press the battery latch with both hands to safely detach the battery. *Exercise caution around moving joints to avoid pinching your hands.* .. Controls .. ======== .. Powering On .. ----------- .. .. attention:: .. If the G1 enters an unexpected state, press **L1 + A**. The robot will enter damping mode and **slowly fall to the ground**. .. Installing Battery Pack .. ``````````````````````` .. 1. Insert the battery into the battery compartment on the side of the robot. .. 2. Ensure the **power switch faces the back** of the robot. .. 3. If the battery does not fully insert, adjust its direction. **Do not forcefully press it** to avoid damaging the battery interface and buckle. .. 4. Listen for a **"click"** sound, indicating the battery is securely installed. Verify the buckle is in place. .. .. figure:: media/figures/g1_battery_insert.jpg .. :width: 40% .. :align: center .. :alt: G1 Battery Insert .. | .. Sit & Power On [Method 1] .. ------------------------- .. Preparation Before Startup .. `````````````````````````` .. If conditions permit, G1 supports booting while seated. Place G1 on a chair with arms and legs positioned naturally, as shown in the following image. .. .. figure:: media/figures/g1_sitiing.png .. :alt: G1 Sitiing .. :width: 100% .. :align: center .. | .. Powering On .. ``````````` .. 1. Short-press the power button on the battery once. .. 2. Press and hold the power button for more than 2 seconds to power on the battery. .. .. figure:: media/figures/g1_power_on.png .. :width: 75% .. :align: center .. :alt: G1 Power On .. | .. Successful Boot .. ``````````````` .. 1. Wait approximately **1 minute** for the G1 to enter the **zero torque state**. .. 2. Press ``L1 + A`` to enter damping mode. .. 3. Hold the G1’s shoulder and press ``L1 + UP`` to help it enter the ready state. .. 4. Once G1 straightens and stands, you can press: .. - ``R1 + X`` or ``R2 + X`` to enter operation control state. .. .. figure:: media/figures/g1_bootup.png .. :width: 70% .. :align: center .. :alt: G1 Boot Up .. | .. Hang & Power On [Method 2] .. -------------------------- .. The following steps guide you through the process of hanging, preparing, and powering on the Unitree G1 Humanoid Robot. .. Preparation Before Startup .. `````````````````````````` .. 1. Place the G1 steadily on the ground. .. 2. Thread a rope through the **special suspension buckles** located on both shoulders of the robot. Tie the rope securely with a dead knot. .. 3. Attach the rope to the **suspension buckle** of the protective frame. .. 4. Gradually raise the G1 by adjusting the support, ensuring the robot's body is fully suspended and its feet do not touch the ground. .. .. figure:: media/figures/g1_hang_setup.jpg .. :width: 70% .. :align: center .. :alt: G1 Hang Setup .. | .. Body Placement .. `````````````` .. - While hanging, position the robot's arms and legs naturally. .. - Ensure the joints are **not entangled** before proceeding. .. .. figure:: media/figures/g1_hangpose.jpg .. :width: 75% .. :align: center .. :alt: G1 Hang Pose .. | .. Starting Up the Robot .. ````````````````````` .. 1. Short-press the power button on the battery once. .. 2. Press and hold the power button for more than 2 seconds to power on the battery. .. .. figure:: media/figures/g1_power_on.png .. :width: 75% .. :align: center .. :alt: G1 Power On .. | .. Boot Process .. ```````````` .. - The boot process takes approximately **1 minute**. .. - When all joints enter the **zero torque state**, the initialization is successful. .. 3. Use the remote control: .. - Press ``L1 + A`` to enter damping mode and unlock control. .. - Press ``L1 + UP`` to enter the ready state. .. The G1 will assume a neutral posture, as shown in the following image. .. .. figure:: media/figures/g1_hang_on.png .. :width: 75% .. :align: center .. :alt: G1 Hang On .. | .. Lowering and Activating the Robot .. ````````````````````````````````` .. 1. Gradually lower the suspension rope until the G1's feet touch the ground. .. 2. Press ``R1 + X`` on the remote control. .. - The control program will start, transitioning G1 from the ready state to the motion state. .. 3. Allow the robot to stabilize its movement. .. .. figure:: media/figures/g1_touch_down.jpg .. :width: 75% .. :align: center .. :alt: G1 touch Down .. | .. Unlocking the Hanging Rope .. `````````````````````````` .. - Once the G1 is stable, fully release the suspension hook. .. - Use the **left and right joysticks** on the remote control to control the G1’s movements. .. - Press **START** on the remote to switch between standing and walking states. .. .. figure:: media/figures/g1_ready.png .. :width: 75% .. :align: center .. :alt: G1 Ready .. | .. Start from Ground [Method 3] .. ---------------------------- .. Follow these steps to safely start up the G1 robot from a grounded position. .. Preparation Before Startup .. `````````````````````````` .. - Place the G1 steadily on the ground Facing Up. .. - Ensure the joints are **not entangled** before proceeding. .. - Always ensure the robot is on a **stable, non-slippery surface** to prevent accidental falls or damage. .. Starting Up the Robot .. ````````````````````` .. 1. Short-press the power button on the battery once. .. 2. Press and hold the power button for more than 2 seconds to power on the battery. .. Boot Process .. ```````````` .. - The boot process takes approximately **1 minute**. .. - When all joints enter the **zero torque state**, the initialization is successful. .. Using the Remote Control .. ```````````````````````` .. 1. Press ``L1 + A`` to enter damping mode and unlock control. .. 2. Press ``L1 + X`` to activate the **Lying Down and Standing Up Mode**. .. .. attention:: .. Maintain a **safe distance** as the robot will start to get up on its own. .. The G1 will rise from the ground, as illustrated in the following GIF: .. .. figure:: media/figures/g1_wakeup.webp .. :width: 50% .. :align: center .. :alt: G1 Wake Up Process .. :class: mbsrounded .. | .. Emergency Stop .. -------------- .. If the G1 enters an unexpected state, press **L1 + A**. The robot will enter damping mode and **slowly fall to the ground**. .. .. attention:: .. Always ensure the suspension setup is stable and secure to prevent damage or accidents during operation. .. G1 Switching Off .. ---------------- .. Follow these procedures to safely switch off the G1 robot in various scenarios. .. Sitting Shutdown [Method 1] .. ``````````````````````````` .. 1. Stand behind the chair to assist the G1 robot in sitting, while the robot stands in front of the chair facing away from it. Ensure the robot remains stationary. .. 2. Hold the back of the shoulders and press ``L1 + LEFT`` on the remote control to help G1 sit down. .. 3. Perform the following steps to power off: .. a. Press ``L1 + A`` to enter damping mode. .. b. Press and hold the battery power switch key for more than 2 seconds to shut down. .. .. figure:: media/figures/g1_sitting_off.png .. :width: 100% .. :align: center .. :alt: G1 Sitting Turning Off .. | .. After shutting down: .. - Arrange the robot's arm and foot joint limits according to body placement requirements. .. - If the G1 will not be used for a long time, remove the battery pack: .. - Hold down the battery pack clip with both hands and gently remove the battery. .. Hanging Shutdown [Method 2] .. ``````````````````````````` .. 1. Resuspend G1 on the protective frame to ensure it is stationary. The rope should maintain tension on the robot. .. 2. Perform the following steps to power off: .. a. Press ``L1 + A`` to enter damping mode. .. b. Press and hold the battery power switch key for more than 2 seconds to shut down. .. After shutting down: .. - Arrange the robot's arm and foot joint limits for proper storage. .. - Remove the battery pack as described above if G1 will not be used for a long time. .. Standing Shutdown [Method 3] (Not Recommended) .. `````````````````````````````````````````````` .. .. danger:: .. **This method is not recommended as it can pose safety risks. Ensure caution to avoid injury or damage.** .. 1. Hold G1 securely: .. - One hand should be positioned between the legs. .. - The other hand should hold the bracket on the back of the shoulders. .. 2. With assistance, press ``L1 + A`` to enter damping mode. **The robot will lose balance**; carefully lower it to the ground. .. 3. Ensure the entire body is lying flat on the ground. .. 4. Press and hold the battery power switch key for more than 2 seconds to shut down. .. After shutting down: .. - Arrange the robot's arm and foot joint limits for proper storage. .. - Remove the battery pack as described above if G1 will not be used for a long time. .. .. attention:: .. - Always shut down G1 in a sitting or suspended position to avoid sudden falls and potential damage. .. - Avoid placing your hands near the robot's movement joints to prevent injury. .. G1 Basic Operation .. ------------------ .. Remote Control .. `````````````` .. The R3 remote control is part of the G1 remote control module, equipped with a **digital transmission module** and a **Bluetooth module**. Using the Unitree Explore App, the robot and remote control can be bound for seamless connection upon powering on. .. Features: .. - **3-axis posture and position stability** control. .. - Movement capabilities include: .. - Forward, backward, left, right, turn in place. .. - Walking in predefined patterns: straight line, circular, linear, rectangular. .. - Navigation on flat surfaces, slopes, and steps. .. - Ergonomic design for improved grip and comfort. .. Key Components .. """""""""""""" .. The remote control consists of the following key parts: .. - **[1] Right Rocker** .. - **[2] Left Rocker** .. - **[3] Key L1 / L2** .. - **[4] Key R1 / R2** .. - **[5] Type C Charging Interface** .. - **[6] Arrow Keys** .. - **[7] Power Connect Indicator** .. - **[8] SELECT Key** .. - **[9] F1 (Function Setting Key)** .. - **[10] Charging Status Indicator** .. - **[11] Power Connect Indicator** .. - **[12] Power Button** .. - **[13] Data Transmission Indicator Light** .. - **[14] F3 (Function Setting Key)** .. - **[15] START Key** .. - **[16] Action Keys** .. - **[17] Bluetooth Signal Indicator Light** .. .. figure:: media/figures/g1_remote_labels.png .. :width: 100% .. :align: center .. :alt: Remote Control Labels .. | .. Technical Specifications .. """""""""""""""""""""""" .. +----------------------+-------------------------------+ .. | **Parameter** | **Specification** | .. +----------------------+-------------------------------+ .. | Charging Voltage | 5.0V | .. +----------------------+-------------------------------+ .. | Charging Current | 700mA | .. +----------------------+-------------------------------+ .. | Battery Capacity | 780mAh Lithium Battery | .. +----------------------+-------------------------------+ .. | Communication Mode | Data Transmission, Bluetooth | .. +----------------------+-------------------------------+ .. | Running Time | 5 hours | .. +----------------------+-------------------------------+ .. | Remote Control Range | Above 100m (open environment) | .. +----------------------+-------------------------------+ .. Installation and Calibration .. ```````````````````````````` .. Installing the Joystick .. """"""""""""""""""""""" .. 1. **Remove the joystick**: .. - Pull out the remote control from the storage slot. .. - Remove the two joysticks. .. .. figure:: media/figures/g1_joystick_remove.png .. :width: 75% .. :align: center .. :alt: Joystick Remove .. | .. 2. **Install the joystick**: .. - Secure each joystick by rotating it clockwise until tight. .. .. figure:: media/figures/g1_joystick_install.png .. :width: 75% .. :align: center .. :alt: Joystick Installation .. | .. Rocker Calibration .. """""""""""""""""" .. 1. Hold the remote control without touching the rocker. .. 2. Press ``F1`` and ``F3`` simultaneously to enter **calibration mode**. .. - The remote will emit a continuous "beep-beep" sound (1 beep/second). .. 3. Rotate the left and right rockers to full rudder several times. .. 4. When the beeping stops, press ``F3`` once to save the calibration. .. .. attention:: .. - Do not touch the rockers before entering calibration mode. .. - Move the rockers **only** after calibration mode is active. .. Powering On/Off .. ``````````````` .. Turning On .. """""""""" .. 1. Short-press the power button once. .. 2. Long-press the power button for **2+ seconds** until you hear two "beeps." .. Turning Off .. """"""""""" .. 1. Short-press the power button once. .. 2. Long-press the power button for **2+ seconds** until you hear three "beeps." .. .. figure:: media/figures/g1_remote_on_off.png .. :width: 75% .. :align: center .. :alt: Joystick Installation .. | .. .. tip:: .. The sequence is **short press + long press for 2 seconds or more** for both turning on and off. .. Vibration and Sound Settings .. ```````````````````````````` .. Vibration/Sound Toggle .. """""""""""""""""""""" .. - **Switching vibration**: Quickly press ``F3`` **3 times** to switch to vibration mode. .. - **Switch sound**: Quickly press ``F3`` **3 times** to switch to sound mode. .. .. figure:: media/figures/g1_remote_f3.png .. :width: 75% .. :align: center .. :alt: Joystick Operation .. | .. Vibration/Sound Switch .. """""""""""""""""""""" .. - **Turn off vibration/sound**: Quickly press ``F1`` **3 times** to turn off vibration/sound. .. - **Turn on vibration/sound**: Quickly press ``F1`` **3 times** turn on vibration/sound. .. .. figure:: media/figures/g1_remote_f1.png .. :width: 75% .. :align: center .. :alt: Joystick Operation .. | .. Save Feedback Settings .. """""""""""""""""""""" .. - To save vibration/sound settings for the next startup: .. - Hold down the ``F1`` button during shutdown. .. .. attention:: .. By default, feedback settings (vibration/sound) are **not saved** after modifying. .. .. important:: .. Always ensure to follow the correct steps to avoid damaging the remote control or affecting calibration accuracy. .. Mode Switching .. -------------- .. The robot allows seamless transitions between modes using specific commands: .. .. figure:: media/figures/g1_mode_switch.png .. :width: 100% .. :align: center .. :alt: G1 Mode Switch .. | .. .. Important:: .. - To switch back to Main Operation Control mode after using the squatting position (L1 + Y), follow these steps: .. 1. Enter damping mode using **L1 + A**. .. 2. Switch to Main Operation Control mode using **L1 + Y**. .. .. important:: .. - Starting in lying or squatting positions is **only suitable for flat and hard ground**. Using these modes on uneven surfaces may lead to instability and potential damage. .. - If equipped with dexterous hand equipment, **avoid starting in lying or squatting positions** to prevent damage to delicate components. .. Boot Processes .. -------------- .. **Regular Boot Process** .. 1. Boot -> **[1]** -> **[2]** -> **[3]** -> Demo -> **[4]** (Chair Seat) -> Turn off. .. **Lying Boot Process** .. 1. Ensure the boot device crotch is flat against the ground. .. 2. Boot -> **[1]** -> **[5]** -> Demo -> **[6]** -> Turn off. .. **Squatting Boot Process** .. 1. Start in a squatting posture. .. 2. Boot -> **[1]** -> **[6]** -> Demo -> **[6]** -> Turn off. .. **3-DOF Waist structure** .. - [7],[8] Only Used For 3-DOF Waist structure, recommended to use R1 + Y mode .. **Remote Control Timeout** .. - If the R3 remote control is not connected to the robot or phone after turning on, the robot will automatically shut down within 10 minutes of inactivity. To reconnect, power the robot on again.