***************** Aliengo Robot Dog ***************** Revision History ================ +----------+-------------------+----------+------------------------+ | Revision | Date (DD/MM/YYYY) | Author | Changes | +==========+===================+==========+========================+ | 1 | 14/11/2022 | Kee Jin | Initial release | +----------+-------------------+----------+------------------------+ | 2 | 06/08/2024 | Kang Wei | Update resources | +----------+-------------------+----------+------------------------+ 1. Overview =========== The Aliengo robot dog is a 12 DOF, quadruped robot. 2. Specifications ================= .. list-table:: Technical Specifications :widths: 25 25 * - Dimensions (Proning State) - 600mm x 310mm x 150mm * - Dimensions (Standing State) - 650mm x 310mm x 600mm * - Maximum traversal tilt - 25 degrees * - Maximum stair-climbing height - 18cm * - Maximum Speed - 1.5m/s * - Charging Time - 45min * - Average Running Time - >2h * - Weight - 21.5kg * - Rated Load - 10kg * - Motor - 12 x Servo Geared motors 3. General Notes ================ * When conducting experiments with the Aliengo that may impact its stability, the emergency stop and leash provided should be used where necessary. .. image:: figures/A1_estop.png :width: 180 px .. image:: figures/A1_leash.png :width: 380 px * The Aliengo should be powered off and its battery should be replaced whenever there is only 1/5 of the battery LED indicators left lit and blinking. This indicates that the battery level is low (0-20%). * Before powering off the Aliengo, be sure to bring it down to the damped proning state first to prevent the robot from dropping down from a height. To do so, get the Aliengo to the "proning state" with "L2+A" and finally press "L2+B". 4. Resources ============ Manual ------ * User Guide: `Aliengo Customer Training `_ * User Manual: `Aliengo User Manual v1.1 `_ * Software Guide: `Aliengo Software Guide v2.0 `_ Development ----------- * SDK: `unitree_legged_sdk `_ * ROS simulation package: `unitree_ros `_ * CAD File: `Aliengo STEP file `_