UNITREE · Quadruped robots
Unitree A1
Unitree A1 — Flexible Design, Unlimited Possibilities
The multi-camera smart depth camera is presented as using active infrared stereo depth technology, with a range of 0,3–10 m, 1080p resolution, and a reported error of less than %2 within 2 m.
A1 Capabilities
Athletic performance, reliable balance, multi-angle depth camera, HD video streaming, patented power transmission, human tracking, dynamic obstacle avoidance, visual SLAM, gesture recognition, and secondary development.
A1 Standard Version and Optional Modules
Depth camera, real-time HD streaming, secondary development through a real-time high-/low-level API, human following/recognition, and depth sensing. Optional: voice intercom, 6-element microphone array, ultra-wide-angle camera, ultrasound.
Standard-version hardware.
Standard
Depth camera
Standard-version hardware.
Audio, microphone, camera, and ultrasound options are optional.
A1 Exploration Version
In addition to the standard features: lidar-based dynamic obstacle avoidance, map creation, navigation planning, and autonomous localization; skeleton/gesture recognition and support for machine-learning/reinforcement-learning development with a high-computing-capacity AI module. Voice intercom, 6-microphone array, ultra-wide camera, and ultrasound are optional.
Lidar/AI hardware is specific to the version configuration.
Key Measurements
Brief technical indicators highlighted by the manufacturer.
Operating time
Real-time operating system
The source says '2 pcs'.
Protection mode
Motor and power transmission
Maximum joint torque: 33,5 Nm; maximum joint speed: 21 rad/s. The joints can be quickly removed for maintenance; industrial crossed roller bearings are used for long service life and axial impact resistance. Sensor data can be read, and separate position, speed, and torque commands can be sent to the motors.
The torque value is the maximum.
Four foot-end pressure sensors and external connections
Force sensors in the feet provide contact information. External interfaces: 2 HDMI, 2 Ethernet, and 4 USB.
Speed and balance
Maximum sustained running speed: 3,3 m/s (11,88 km/sa). The manufacturer states that the dynamic balancing algorithm helps the robot regain its balance in situations such as impacts and falls.
Manufacturer statement.
Patented Body Structure and Layout
A high-strength, lightweight body that is easy to maintain. 24 V external power input; 5 V, 12 V, 19 V output. The standard configuration is specified as having dual control units and a RealSense depth camera for sensing and movement.
Precise foot-end sensing
The force sensor on each foot detects contact; hardware sensors and motor-current sensing are used together. The foot end is described as water- and dust-resistant and replaceable.
Vision-Based Autonomous Tracking
Tracks people or specific moving objects in its field of view in real time; video stream refresh can reach 25–30 frames/s. Online learning of target features is supported; the confidence indicator changes the box color from green to red, from %100 to %0.
Vision-Based Autonomous Obstacle Avoidance
Avoids obstacles within 0,8 m in its field of view; obstacle distribution, body position, correction angle, and walking route can be monitored in real time.
0,8 m is the manufacturer's stated figure.
Reliability and Optional High-Precision Lidar
The manufacturer reports that a single A1 performed more than 80 consecutive flips at 2020 CES and uses a closed-loop flipping algorithm. Optional lidar supports mapping, localization, navigation planning, and dynamic obstacle avoidance.
Lidar is optional.
Safe operation
The manufacturer issues a safety notice for civilian use advising against hazardous modifications or use.
Technical specifications
| Effective load | 5 kgManufacturer page. |
|---|---|
| Operating time | 1–2,5 hoursManufacturer statement. |
| Maximum joint torque | 33,5 NmMaximum. |
| Maximum joint speed | 21 rad/s |
| Continuous running speed | 3,3 m/s (11,88 km/sa) |
| Depth range | 0,3–10 m |
| Camera resolution | 1080p |
| Depth accuracy | Less than %2 error within 2 mManufacturer's statement. |
| External ports | 4 USB, 2 HDMI, 2 Ethernet |
| External power | 24 V input; 5 V, 12 V, 19 V output |
| Tracking refresh rate | 25–30 frames/s |
| Obstacle distance | 0,8 m |
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