UNITREE G1 (01) PDF Document

Please adhere to the following safety instructions when operating the UNITREE G1:

1) The UNITREE G1 is an integrated humanoid robot featuring advanced motion control algorithms, AI learning capabilities, and complex logic control. It is designed for research, education, and entertainment. It is not a toy and is intended for use by people over the age of 18. Keep out of reach of children or those who may not understand its potential risks.

2) You are obligated to be aware of the laws in your area and to comply with relevant laws and regulations.

3) After powering on, the robot may move. New users are advised to read the user manual to learn how to use the Remote Control to command the robot to show excellent transplant performance by reading the manual, getting familiar with its functionalities, and operating it with caution. The robot has advanced perception capabilities to grasp the essentials of controlling the robot, and then they can draw inferences from cues, and derive from limited information the core of something.

4) When the robot is initially turned on, it is recommended that the upper layer (application layer) is not deployed. At this time, if the high-level commands are only valid when the high-level (application layer) is deployed. At this time, if the high-level commands are only valid when the application layer is on, do not input high-level commands when turning on the robot. It may cause the robot to become unstable. Please be sure to judge whether the users need to use the advanced functions of the robot (such as using the SDK for high-level command development).

5) When moving, please control the robot within sight, keep a certain safe distance (keep safe area), and do not touch the robot with your hands after the robot is powered on.

6) If the robot has an emergency or is about to fall down, in this case, please promptly hang it on a protective frame, when the robot is moving, please keep the area around the robot clear or take protective steps to prevent it from accidentally tripping and hitting objects or people.

7) When the handling, robot or equipment is in motion, it is forbidden to touch the robot, and be careful not to pinch your hands or other parts of the human body.

8) When the remaining charge of the battery flashes, please stop and turn off the robot in time, remove the battery for charging, and avoid the risk of battery failure and damage due to low battery power.

The Unitree G1 is a fusion of agility and intelligence in a humanoid robot, designed with an all-joint cooling system, significantly enhancing operational precision and runtime stability. The main body structure utilizes high-strength alloy materials and aerospace-grade engineering plastics, with the robot weighing about 55kg. All connecting materials are made of high-strength titanium alloy, which can withstand a single load of up to 350kg. The standard G1 robot has a 23-joint body and a high-performance CPU, depth camera, and 3D LiDAR. It supports Wi-Fi 6 and Bluetooth 5.2 wireless communication. The educational version (G1-EDU) includes an extra nine motors on the regular version, with an optional range of 23-43 degrees of freedom.

The main parts of the UNITREE G1 are as follows:

Body and Head:

• Head

• Microphone Array

• 3D LiDAR

• Depth Camera

• Speaker

• Power button and status indicator of the whole machine

• Fan

• Battery container/ auxiliary module

• USB/HDMI/network interface

Arms and Hands:

• Upper Arm

• Forearm

• Hand

• Shoulder Joint Motor

• Elbow Joint Motor

• Wrist Joint Motor

• Three-fingered dexterous hand (optional)

Legs and Feet:

• Hip

• Thigh

• Shank

• Foot

• Hip Joint Motor

• Knee Joint Motor

• Ankle Joint Motor

• Connecting Rod with Encoder

MODEL	G1	G1-EDU
Dimension (Height, Width and Thickness)	1270mm×450mm×200mm	1270mm×450mm×200mm
Height	About 1270mm	About 1270mm
Weight (With Battery)	About 55kg	About 56kg+
Single Arm (Degrees of Freedom)	5	5
Joint Freedom	23	23-43
Single Arm (Degrees of Freedom)	5	5
Waist (Degrees of Freedom)	0	0~3
Hand (Degrees of Freedom)	Optional 2 additional joint degrees of freedom
Single Hand (Degrees of Freedom)	3	3
Single Hand (Degrees of Freedom)	/	Optional three-fingered dexterous hand (force control) (Repetition limit less 0.1 N) Optional Additional nine degrees of freedom
Full-Arm Haptic Feedback	Yes	Yes
Cooling System	Dual cooling	Dual cooling
Joint Cooling	Local air cooling	Local air cooling
Power Supply	15 ah, 60.84v lithium battery	15 ah, 60.84v lithium battery
Basic Computing Power	Regular high-performance CPU	8 core high-performance CPU
Depth Camera	Depth Camera+3D LiDAR	Depth Camera+3D LiDAR
Microphone	Noise Cancellation, Tetra Omnidirectional	Noise Cancellation, Tetra Omnidirectional
Loudspeaker	3W Power	3W Power
WiFi 6 + Bluetooth5.2	Yes	Yes
Intelligent OTA Upgrade	Yes	Yes
AI Speech Interaction	Yes	Yes
High-Computing Power Module	O	X8/E8 ×2 Orin/Orin Nano

Three-fingered Dexterous Hand-Pro/Lite Technical Parameter

Operating Voltage	12-18V
Range of Perception	10g-2500g
Degrees of Freedom	Total degrees of freedom: 3 1 Thumb with 3 Degrees of Freedom, 2 Fingers (Middle/Index) with 2 Degrees of Freedom
Angle of Joint	Thumb: 0° ~ 100°, -35° ~ 60°, -60° ~ 60°, Index, Finger and Middle Finger: 0° ~ 90°, 0° ~ 180°
Number of Array Sensors	9

MID360 Laser Radar FOV:

The UNITREE G1 is equipped with a MID360 laser radar, which provides excellent environmental perception capabilities. Its Lidar adopts omnidirectional and full-angle scanning technology, with a FOV (Field of View) covering a full 360° horizontal angle and a vertical angle from -7° to 52°. It can quickly identify and measure surrounding objects, providing high-resolution point cloud data.

D435i Depth Camera FOV:

The G1 head is equipped with a D435i depth camera, which provides the robot with excellent visual perception. It has a horizontal FOV of 85.2° and a vertical FOV of 58°. This camera provides precise spatial perception and obstacle detection, and enables the robot to interact with the environment and respond to various scenarios more accurately and safely.

MID360+D435i Merged FOV:

The combined field of view provides a horizontal angle of 360° and a vertical angle from -7° to 58°.

Here are the steps to charge the UNITREE G1 battery:

1) Remove the battery from the G1 body (Pull out the battery pack strap).

2) Charger input AC power (100-240V, 50/60Hz).

3) Connect the G1 battery.

4) Manually disconnect the power when fully charged.

Notes:

1) The charger provided by Unitree supports a wide voltage range. However, significant power supply voltage swings can affect charging. It’s recommended to confirm the local input voltage of the charger before connecting. Otherwise, the charger or its components may be damaged, leading to charging anomalies.

2) Plug in the input AC power first before charging the battery, then connect the charger to the battery. After charging is complete, disconnect the charger from the battery first, then unplug the AC power, or the charger may be damaged.

3) The user needs to remove the battery pack from the robot self when charging the battery pack.

Charging State:

• In the charging state, the battery indicator of the battery pack will flash at a frequency of 1Hz (1 second/time) and indicate the current battery.

• If the battery charge is off, the battery pack is fully charged. Please remove the battery pack and charger to finish charging.

• If the four lights of the battery pack may be high after booting up, and the battery pack can’t be charged after charging for some time, it may be because of over-discharging.

• It is strictly prohibited to short-circuit or charge by non-original G1 batteries. Please use official chargers for charging.

When the charging indicator light of the companion remote control shows that the battery is low, you should connect the companion remote control to the charger as shown in the figure below.

1) We recommend you to use a 5V,2A USB charger which meets FCC/CE standard.

2) Plug the USB cable into the AC power adapter, and connect the other end of the cable to the remote control.

3) The power indicator light will flash at 1Hz (1 second/time) in charging status and indicate the current power.

4) When the power indicator light is all off it means the battery pack is full, please remove the charger to finish charging.

Charging Indicator Light

LED1	LED2	LED3	LED4	Current Battery
(Flashing)	(Off)	(Off)	(Off)	0%≤P<25%
(On)	(Flashing)	(Off)	(Off)	25%≤P<50%
(On)	(On)	(Flashing)	(Off)	50%≤P<75%
(On)	(On)	(On)	(Flashing)	75%≤P<100%
(On)	(On)	(On)	(On)	Full Charged

1) Please place the robot in a dry environment with good indoor conditions. Do not use in sandstone, swampy, steep, big step places, high grass, wet, swampy, escalators, terrain is uneven, etc. The robot is not waterproof, so do not use it in the harsh environments such as water, oil, sand and soil. The robot is not dust-proof, please do not use it in dusty floors, dusty environments.

2) Please make sure that the robot is in a clean and open environment. Keep the robot at a distance from obstacles, complex terrain, crowds, water and other objects.

3) When operating the robot, please stay away from interference sources. Sources of electromagnetic interference include but are not limited to: high-voltage power lines, high-voltage transmission stations, and transformer substations, other high-power radio sources.

4) Please do not run the robot in the Wi-Fi signal interference environment. Wi-Fi signal interference is strong environment (e.g. including but not limited to airports, hotels, shopping malls, etc.) or there are many sources of other wireless devices below using the remote control to operate the robot.

5) To avoid collisions and falls and ensure the safety of the robot, personnel and safety, please use the robot in an open, flat, and unobstructed environment. If the robot needs to travel on complex terrain or over obstacles, please operate it carefully. The robot can go over obstacles, but it is not recommended to use it on very frequent terrain, such as stairs. It can avoid tripping over obstacles.

6) When using the robot, please ensure that the ground on which it walks. Do not use the robot on very low friction ground, such as ice. Using the robot on soft ground, such as in thick grass or sand. If the robot is used on small ground or on sloping ground, the user is required to operate the robot carefully to avoid slipping and falling. Do not stand the robot on soft carpets, and reduce the walking speed of the robot to prevent the robot from slipping and falling.

Place the box on a flat surface according to the placement requirements (with the front side up), then open the box, take out the G1 and accessories from the cushions one by one. Do not place G1 on the ground, but place G1 horizontally, place the robot flat on the flat surface, and then prepare to power it on.

1) Only Use Unitree Robotics authentic parts and ensure that all parts are in good working condition.

2) Ensure that the firmware has been updated to the latest version.

3) The user ensures that he or she is not operating the robot while intoxicated, under the influence of drugs, and unable to concentrate.

4) Be familiar with the characteristics of each gait mode. Be familiar with the emergency braking method of the robot in case of instability / loss of control.

5) Check that there are no foreign objects (such as water, oil, sand, soil, etc.) inside the robot and its components.

6) Ensure that the remote control module and battery pack are fully charged.

7) Check whether the protective bracket is installed correctly and whether the bottom anti-slip rubber is complete.

1) Preparation before Startup

In the non-emergency state, G1 supports booting while sitting in a chair. Please ensure that the G1 is sitting on a chair with arms and legs placed naturally.

2) Installing Battery Packs

Insert the battery pack into the battery compartment from the side of the robot, paying attention to the insertion direction. The metal side should face the back of the robot. IT IS NOT possible to fully insert the battery pack when it is installed upside down. When you hear a “click” sound, the battery pack installation is complete, the battery interface and buckle. When you hear a “click” sound, the battery pack installation is complete, the buckle is in place!

3) Start up

After completing the pre-startup check and preparation of the robot, power it on by following these steps: short-press the power button of the battery once, and then press and hold the power button for more than 2 seconds to power on.

4) Successfully boot

Short press and long pressing the power button to turn on the machine, wait for about 1 minute until G1 enters the non-torque state. Press L1+A to enter the damping state. At this point, hold the G1 to stand up straight. It is recommended to assist with a flat tool on the G1’s head, held in place by forces. After G1 is straightened and standing, you can press R1+X to enter the operation control state.

Emergency Stop Note: When G1 appears in an unexpected state, press L2+L1; G1 will enter damping mode and will slowly fall to the ground.

1) Preparation before Startup

Please place G1 parallelly on the ground, thread the rope through the special suspension buckles on both shoulders of the robot, and then hang the rope on the suspension support, ensuring that the robot’s body is completely suspended and its feet do not touch the ground.

2) Install Battery Packs

Insert one battery pack into the battery compartment from the side of the robot, paying attention to the insertion direction. The metal side should face the back of the robot. It is not possible to fully insert the battery pack, please adjust the direction of the battery pack and do not forcefully press it to avoid damaging the battery interface and buckle. When you hear a “click” sound, the battery pack installation is complete. Please ensure that the buckle is in place!

3) Body Placement

Hanging and starting up. Place the arms and legs naturally, ensuring that the joints are not entangled.

4) Start up

After completing the pre-startup check and preparation of the robot, power it on by following these steps: short-press the power button of the battery once, and then press and hold the power button for more than 2 seconds to power on the battery.

5) Successfully boot

The entire boot process lasts approximately 1 minute. Please be patient after the battery starts up. When all joints of G1 are in a free state (non-torque), you can use the remote control to enter damping to unlock the control, and then press L1+UP to enter the ready state. The G1 posture is shown in the following figure.

6) Descend the suspension rope

Slowly release the rope, ensuring G1’s feet touch the ground. Press R1+X on the remote control again. At this time, the control program starts, G1 enters the motion state from the ready state, and G1 starts to move in place.

7) Unlock the hanging rope

After the robot’s center of gravity is stable, you can fully release. At this time, you can operate the left and right joysticks of the remote control to control the movement of G1.

Press START on the remote control to control G1 to switch between standing and walking states.

Emergency Stop Note: When G1 appears in an unexpected state, press L2+L1; G1 will enter damping mode and will slowly fall to the ground.

1) Download and Install the Unitree Explore App

Scan the QR code to download and install the Unitree Explore App, and log in with the account and password provided by Unitree.

2) Add Robot

After starting the G1 power, add the robot in the Unitree Explore App. Turn on the Bluetooth in the phone system -> Click ‘Add Robot’ on the homepage -> Search for devices you want to add.

3) Binding G1

You can choose to connect in AP, direct connection mode or Wi-Fi connection mode. After completing the configuration, you can return to log in.

During the binding process, please turn on the Bluetooth on your mobile phone and keep it close to G1 to ensure real-time Bluetooth communication.

Note: Please keep your mobile phone’s bluetooth on during connection. After installing Unitree Explore for the first time, you need to turn on the Bluetooth permission for Unitree Explore in your phone’s App settings. If it’s not turned on, please close the app and go to the settings to turn on Bluetooth. Please open the App again to finalize the process of connecting to your device.

Click on the homepage to go to [Settings] -> [Robot Settings], then select Unbind to release the binding of the robot from the current account. After the robot is unbound, it can be bound to another account.

1) Use the Unitree Explore App to support the robot to connect the remote control.

2) Turn on the remote control. After turning on the remote control, there is a prompt, then press and hold the power button for more than 2 seconds. When you hear a “beep” sound, the remote control will be turned on.

3) Bind the remote control and data transmission. Open the Unitree Explore App, tap [Settings] -> [Remote Control Settings], enter the corresponding remote control code to bind it with the data transmission. The remote control code is on the back of the remote control.

Once the remote control is powered on and successfully connected to G1, the right G1 indicator light is on, indicating that the remote control is connected to the G1’s data transmission module. At this point, you can use the buttons on the remote control to control the robot and complete the corresponding actions.

When G1 is in the non-torque state and in the damping state, press the L2+B2 key combination on the remote control at the same time, and G1 enters the Develop mode. At this time, press L2+A, G1 will enter the position mode (applicable to standing and hanging states).

Press L2+B again, G1 enters damping state. This process can be used to confirm whether G1 successfully enters Develop mode. If it is in Develop mode, press R2+START to return to sport mode, and press R2+B to enter damping mode.

Notes:

• If the companion remote control is connected on the host computer-side program will automatically exit, even if you do not operate the remote control. The program periodically sends instructions with a period of 1s. When the robot enters Develop mode, the high-level control is turned off, and the user program is forced to exit.

• Therefore, when you need to use the SDK for development and debugging, please make sure that G1 has entered Develop mode. The user can also send program instructions through the companion remote control, but instruction conflicts. You can press L2+A to confirm whether you have entered Develop mode.

• Do not use the companion remote control to send instruction conflicts. The user can switch multiple times to ensure that it enters Develop mode.

1) Sitting and turning off:

Place a stable chair with a proper panel in front of the chair with the G1 facing away from you, ensuring that the robot is in a sitting posture. Hold the back of the robot with your hand for protection and press L1+SELECT to help G1 sit down.

a) After G1 sits down, please press the START button to switch to the non-motor state.

b) After G1 enters non-torque mode, first press and hold the battery power switch for 2s, and then press and hold for 2s to turn off, and then press START again.

c) After shutting down, please arrange the robot arm joint limits and foot joint limits according to the requirements of the body placement in the corresponding box, and then hold down the battery pack clip with both hands to remove the battery pack in a timely manner.

2) Standing shutdown:

Before shutting down, please make sure to suspend G1 on the protective frame to ensure that the robot does not rely on its own support (the G1 body is in the damping mode, there are no forces acting on the joints and it is in a non-standing state), and the rope has tension on G1.

a) Press L2+L1 to enter damping mode.

b) After the robot enters damping mode, first press and hold the battery power switch for 2s, and then press and hold for 2s to turn off the robot, and then START.

c) After shutting down, please arrange the robot arm joint limits and foot joint limits according to the requirements of the body placement in the corresponding box, and then hold down the battery pack clip with both hands to remove the battery pack.

Warning: Please ensure the robot is suspended in a protective frame and is in a non-standing or off-state, and that the rope is taught, with the G1 body completely suspended and the G1 body’s center of gravity vertical. If there are forces in the body and you perform a safety hazard, if the swing link fails, please check if the rigid body is upheld vertically. Be careful of falling objects, and do not place the robot on the ground to remove the battery.

Packing steps:

1) Hang the G1 robot vertically and prepare the matching transport box.

2) Look for the indicator line on the surface of the box. Ensure that the panel is level, please pay attention to the directions.

3) Slowly lower the suspension rope so that the G1 robot’s rear end enters the transport box first. Be careful not to let the robot’s limbs get caught.

4) After the G1 is in position, lay the G1 robot down, lying flat in the box, paying attention to the directions.

5) Place the robot arms on both sides of the body, and rotate the wrists vertically to arrange them flat in the box for transportation.

6) Fold your legs back towards your body and place them inside the box, ensuring that the soles of your feet are level with the surface of the box.

7) Make sure to buffer the collision of each component of the robot, put in foam or other objects as needed to cushion the collision, and be careful not to touch the sensitive optical lens in the outside of G1.

If the UNITREE G1 robot falls during the self-initialization process, it is recommended to restart the robot. The robot needs to be powered on again to stand up. If it still falls after standing up for 2 minutes, it indicates initialization failure. The robot has failed to start up, and the body should be hung up to perform the operations of “Check before Power on” and “Unpacking and check before” before energizing again.

In the use of Unitree Robotics official movement control program (control), the robot moves by using the remote control. If a fall is detected or predicted, it will protectively enter a damping state. Check for any complex environment issues (such as electricity), or if the surface is slippery. If no obvious issues are found, the robot will restart normally. If the problem persists, please seek after-sales support.

In hot AP mode, check if the phone is connected in the AP hotspot setted by the robot.

If the hotspot is connected but the app is not connected, please exit the special scene and re-connect.

Also confirm that the unitree explore app can access location and bluetooth data, then restart the robot and try again.

To prevent falls due to failure of the remote control module (such as running out of battery on the remote control or mobile phone), the robot is suspended and the feet are completely off the ground. Forced shutdown: Hang the robot on a protective frame, with both feet suspended in the air, and maintain a certain distance from the ground to prevent bumping into the ground. Then, after making sure that there is no risk, short press the power switch of the battery, and then long press for more than 2 seconds to turn off the robot.

If you need a long standby time, please hang the robot and control it to a damping state (press L1+A key). It is necessary to calibrate the robot joints according to the relevant steps on the Unitree Explore App. The robot needs to be calibrated after a period of use to ensure accurate motion control. If the motion is not normal after any abnormal situation occurs with the G1, please consult Unitree’s affiliated technical support before operating. The entrance for joint calibration in the App is [Settings] -> [Debug] -> [Robot] -> [Calibration].

1) About battery life

The robot’s comprehensive running endurance is approximately 2 hours. The actual battery life will depend on the robot’s load, ambient temperature, and other factors. The robot can maintain a squatting posture while standing, walking with bent legs, carrying a load, walking at a low body height, and walking on uneven ground, which may all cause reduced battery life.

2) Regarding undulating road surface

When the robot is walking on bumpy roads with irregular undulations and slopes, the operator should reduce the robot’s walking speed and handle it carefully to avoid tripping the robot.

3) About running

Running speed can reach 2m/s under stable control on flat terrain. Please stay away from crowds when operating the robot.

4) Other matters

When the robot is moving, please keep the surrounding area open and try to use friction ropes or protective gear to avoid hitting surrounding people and objects. Do not touch the robot during movement or transportation! Be careful to pinch your hands at the joints.

Warning: Maximum operating speed or data, tested in special configurations, in practice there is a speed limit for safety reasons.

After using G1, if there are stains on the surface, please clean the surface of the body of the robot in time. Use a dry soft cloth to gently wipe the surface of the robot. You can use a soft cloth to wipe the body, pay special attention to the camera and radar surface to wipe clean. Do not use alcohol, corrosive solvents, chemical detergents to clean the robot body or camera and radar, so as not to shorten the service life of the parts due to water ingress and ruin/corrosion.

Carry out routine inspection, maintenance and after-sales service on a regular basis, in order to improve the reliability and performance of products, enhance personal safety, hardware and extend the service life span.

Maintenance checklist	Main points
Type
Appearance of the whole machine	1) Check the appearance of the whole robot for any signs of deformation marks. 2) Whether the screws on the robot’s various parts are loose. 3) Check that the connections are secure and the status of LEDs.
Structure	1) Visually and touch to check whether the body, joints, connections, and legs and pads are intact and whether the plastic case is broken. 2) Check if all parts are connected tightly. 3) Ensure that the signals of all connecting parts are locked, especially the screws of joint fasteners. After they are loosened.
	1) Check whether there are cracks, deformation and other abnormal phenomena. 2) Whether the battery pack is installed reliably to ensure that it will not loosen during movement. 3) Check whether the battery pack is abnormally damaged. The battery pack was obviously damaged by Exfoliation is to be sure.
Battery pack
Remote Control	1) Check the housing of the remote control for damage and whether the rocker can be used and other foreign matters. 2) Ensure that the function of the remote control is liquid.

Charged checklist	Main points
Type
Remote control	1) Confirm whether the basic operation function of the rocker is normal.
Battery	1) Confirm whether the remote control has power. 2) Confirm whether the current power is sufficient.
Fan	1) Check carefully with ears to confirm that the cooling fan works normally and there is no abnormal sound.

1) Please store the battery pack in an environment where the temperature is not high or not low. Never store the battery pack at room temperature above 40°C.

2) The recommended storage temperature of the battery is between 0°C and 40°C.

3) If you do not use the battery for a longer period of time, please check the remaining battery power regularly. To avoid damage to the battery due to self-discharge, please maintain the battery power at about 50% to 70% before continuing to store. So as not to over-discharge the battery and damage its durability.

Note: It is recommended to do the above inspection before each use. If the inspection is abnormal, please seek maintenance services. Please contact Unitree Robotics after-sales service in time! Please do not disassemble and install by yourself.