Go1 Robot Dog

Revision History

Revision	Date (DD/MM/YYYY)	Author	Changes
1	14/11/2022	Kee Jin	Initial release
2	22/09/2023	Karthee	Updates to safety precautions, FAQ and General notes

1. Overview

The Go1 robot dog is a quadruped robot with force control technology, used for compound control of the force and position of each joint. The Go1 is equippred with 12 servo motors (3 per limb) giving it a total of 12 degrees of freedom, making it suitable for use in uneven terrain.

2. Safety Precautions

• Do not carry the Go1 when in static mode or sports mode.

• When battery level indicator is 1 blinking LED light (0-25%), turn off the Go1 and charge the battery to prevent it from falling to the ground due to battery depletion.

• If you have additional hardware installed atop the Go1, do not use the roll function as it risks damaging the hardware or robot.

• Please make sure that the Go1 is placed on its abdominal support pad on level ground before starting the machine.

• Bring Go1 to damped prone position before switching off the robot. To do so, get the Go1 to the “proning state” with “L2+A” and finally press “L2+B”.

3. Specifications

Technical Specifications

Dimensions (Proning State)	550mm x 300mm x 130mm
Dimensions (Standing State)	650mm x 300mm x 400mm
Maximum traversal tilt	25 degrees
Maximum Speed	Pro: 3.5m/s Edu: 3.7m/s
Charging Time	~50min
Average Running Time	~1h
Weight	12kg
Rated Load	Pro: 3kg Edu: 5kg
Motor	12 x Servo geared motors
Remote Controller Range	100m
Camera	4 x Stereo cameras FOV: 150 degrees x 170 degrees
Sensor	3 x Ultrasonic sensors
Lidar (Purchased Separately)	Working range: 0.15m-12m Angular range: 360 degrees Resolution: < 1 degree

4. General Notes

Emergency Stop

• When conducting experiments with the Go1 that may impact its stability, the emergency stop provided should be used where necessary.

• Press and hold the OFF button for 1 second to trigger the emergency stop. Do note that once the emergency stop is triggered, the power to the motors on board the Go1 will be cut causing it to drop to the ground.

• To reset the emergency stop, power cycle the Go1.

Remote Controller Calibration

• When the Go1 drift is significant during remote controller operation, calibration of the remote controller may fix this.

• Press the remote control buttons “F1” and “F3” and release them at the same time. At this time, the remote control will emit 2 continuous beep sounds to indicate that it has entered the calibration mode.

• After entering the calibration mode, move the left and right joysticks to full rudder and rotate it several times until the beep sound stops. Press F3 once to make the calibration take effect and that completes the calibration process.

• Note : Please do not touch the joystick before calibrating, only move the joystick after entering the calibration mode.

5. Resources

• User guide: Getting Started with Go1

• Official User manual: Go1 User Manual V1.4

• Software guide: Go1 Software Manual

• Official SDK guide: Unitree Legged SDK Manual

• SDK: unitree_legged_sdk

• ROS simulation package: unitree_ros

• ROS controller package: unitree_ros_to_real

• CAD File: Go1 STEP file

6. FAQ

• Can the Go1 navigate autonomously?

  • The Go1 has a basic navigation stack setup in ROS Melodic. To use it, the Go1 will need a lidar to be installed and a map of the area that the robot is going to be navigating in.

• How to switch between static mode and move mode?

  • When the Go1 is in static mode (locked joints), press “START” to switch to move mode. From move mode, press “L2+A” to switch to static mode.

• How to switch from move mode to running mode?

  • When the Go1 is in move mode, press “L2 + START” to switch to running mode.

• How to switch from move mode and climbing mode?

  • When the Go1 is in move mode, press “A” to switch to climbing mode. To switch back to move mode, press “B”.

• What is the maximum stairs height Go1 can ascend in climbing mode?

  • The Go1 can ascend stairs of height 10cm.

• Can the Go1 connect to Wi-Fi?

  • No, the Go1 does not have the capability to connect to Wi-Fi networks or the internet via Ethernet or external wireless networks. It operates within its own on-board local network system but does not have internet connectivity features.

• Without Wi-Fi capability for the Go1, what is the recommended approach for custom software development?

  • For software development at the application layer, we recommend adding supplementary hardware components to the Go1 according to the development needs.

• What is self-discharge protection?

  • When the power of battery is higher than 65%, after 10 days without any operation, the battery will self-discharge to 65% to protect the battery.

• Does the Go1 have an IP rating for water and dust resistance?

  • No, the Go1 does not have an IP rating for water and dust resistance.

• Can the Go1 start on a slope instead of level ground?

  • No, the Go1 needs to start on a level ground for the IMU sensor to calibrate correctly.