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🚀 Getting Started with the Unitree A1

This page gets you from power off → standing → walking in minutes, with a few safety must-dos and the most useful controller combos.

✅ Pre-Run Safety Checklist​

Keep people clear of the robot before enabling motion. Never reach between the legs while powered.

  • Flat, open space with good grip.
  • Battery charged & latched (quick-press the battery button to see level).
  • Cables & add-ons secure (camera/LiDAR mounted, no loose wires).
  • Controller on & linked (keep it in hand before standing the robot).

🔋 Powering On (Boot & Auto-Stand)​

  1. Wake the battery:
    Quick-press the battery button once, then press and hold ~3 s (≥2 s) until the battery LED is solid and the robot begins booting.

  2. Self-test & stand:
    After a short self-test, the A1 should stand to its initial height. That means boot is successful.

  3. If it doesn’t stand:
    Use the controller to bring it up manually:

    • Hold L2 + press B to enter a relaxed/damping state.
    • Then hold L2 + press A to perform the semi-squat → stand sequence.
    • If joints were locked, press START once to release the lock, then repeat L2+A if needed.

Tip: If the robot lies prone or stays floppy (zero-torque), repeat L2+B then L2+A once more.

🎮 Basic Controls​

The mappings below are from the A1 user manual. This list isn’t exhaustive—it includes only controls we’ve actually had working on our robot at some point.

Start/stop stepping​

  • START — Toggle between stepping and stationary standing.

Posture & torque states (when standing)​

  • Hold L2 + press B — Squat/lie down and enter damping / zero-torque.
  • L2 + A — Semi-squat → stand. Repeated clicks lock joints. Use only while static.

Body attitude (when standing)​

  • Left stick ↑ / ↓ — Lift / squat body height; center = initial height.
  • Left stick ← / → — Yaw (twist) left/right (more deflection → larger angle).
  • Right stick ↑ / ↓ — Pitch forward/back; center = level.
  • Right stick ← / → — Roll (facing the robot: push left → rolls right; push right → rolls left).

Walking controls (while stepping)​

  • Left stick ↑ / ↓ — Move forward / backward (speed scales with deflection).
  • Left stick ← / → — Turn in place (CCW/CW) while stepping.
  • Right stick ← / → — Strafe left/right (lateral speed scales).

Combined stick actions (when standing)​

  • Left ↓ + Right ↑ — Squat + lean forward.
  • Left ↓ + Right ↓ — Squat + lean back.
  • Right stick circle (CW / CCW) — Rotate body clockwise / counter-clockwise.
  • Right ↑ + Left ← / → — Lean forward + twist left/right.
  • Right ↓ + Left ← / → — Lean back + twist left/right.

⚠️ Special Actions — Roll (use with extreme caution)​

  • Hold L2 + press X — Roll 180° to the right.
  • Hold L2 + press Y — Roll 360° to the right.

Avoid using these actions: they carry a risk of damage to the robot, especially if any sensors or mounts (e.g., LiDAR) are installed.

🧯 Quick “Oh No!” Actions​

  • Stop stepping immediately: Press START (robot remains standing but stops walking).
  • Make it safe to approach: L2 + B to enter damping/relax before touching or carrying.
  • If controls feel unresponsive: Ensure you’re in stepping mode (press START), or try L2+START to switch gait, then re-toggle START.

⏻ Powering Off (Clean Shutdown)​

  1. Stop stepping (press START) and ensure the robot is static standing.
  2. Lower to the ground: With L2, press A repeatedly to cycle squat → stand → lie, then L2 + B to enter relaxed/prone.
  3. Turn off battery: Quick-press power once, then press and hold ~3 s (≥2 s) until the battery LEDs turn off.

Best practice: Always shut down from a prone/relaxed posture on level ground.

Contributors:

Ibrahim Suder
Ibrahim Suder
Research Student in ML and Robotics