Remote Control

Warning

The robot’s current walking mode does not include the function for climbing stairs. Please avoid having the robot climb stairs at will to prevent damage to the robot.

Remote Control Parts

The remote controller’s various buttons are explained as shown in the diagram. The functionality of the remote controller mainly consists of left and right joysticks and function buttons.

H1 Remote Control

Fig. 51 H1 Remote Control

Fig. 51 shows the parts of the remote control. The parts names as follows:

  1. Right Rocker

  2. Left Rocker

  3. Key L1/L2

  4. Key R1/R2

  5. Type C Charging Interface

  6. Data transmission Signal Light

  7. Left Key

  8. Power Connect Indicator

  9. F1 Left Rocker Calibration Key

  10. SELECT Key

  11. Charging Status Indicator

  12. Power Indicator Light

  13. Power Button

  14. Data Transmission Indicator Light

  15. F3 Right Rocker Calibration Key

  16. START Key

  17. Right Key

  18. Bluetooth Signal Indicator Light

Remote Control Operation

To control the H1, you can use the following commands:

  1. Press START to switch to continuous walking mode.

  2. Push the left joystick forward to move H1 forward.

  3. Press START again to stop H1 and make it stand in place.

  4. Press START once more to return H1 to continuous walking mode.

  5. Push the left joystick back to make H1 walk backward.

  6. Push the right stick to the right to rotate H1 in that direction.

  7. Push the right stick to the left to rotate H1 in the opposite direction.

  8. Press B to increase the height of the leg lift, and press A to lower the leg lift.

  9. Reattach the rope to the protection hook once H1 remains standing.

  10. Raise the hook until there is tension on the rope supporting H1.

  11. Press L1+A to enter damping mode; Now you can safely shut down or enter debug mode.

  12. To enter debug mode, press L2+R2 while under suspension. See Fig. 52 for more details.

Unitree H1 debug mode

Fig. 52 Unitree H1 debug mode

  1. Press L2+B again to re-enter damping mode and return H1 to its original position.

Operation Guid

Concept

Description

Damping state

All joint motors stop moving immediately

Damping mode

The robot is in a damping state and can enter the preparation mode

or Develop mode

Preparatory mode

The robot will slowly assume the preparatory posture before

movement mode within 5 seconds

Motion mode

Mode where the robot can be controlled by remote control

Continuous walking mode

The robot is always in the stepping state.

Standing mode

In this mode, when the joystick command is zero,

the robot stops stepping and enters standing;

when the joystick command is not zero, or the robot is

disturbed and difficult to maintain balance,

the robot will start to step.

Develop mode

Used for Low-cmd development. When you need to use the SDK for

development and debugging, please make sure that H1 has entered

Develop mode to stop the support motion control program from sending

instructions, so as to avoid potential instruction conflicts. You can

confirm whether you have entered Develop mode by pressing L2+A.

Mode Switch

Fig. 53 shows the mode switch of the robot.

Unitree H1 remote control

Fig. 53 Unitree H1 remote control

Key Description

Mode

Button

Description

General

L1 + A

Enter damping mode

L2 + R2

Enter Develop mode

Damping mode

R2 + X

Enter preparation mode

Preparatory mode

R2 + X

Enter sports mode

Sports mode

Left joystick

Translation speed \((v_x, v_y)\)

Right joystick

Yaw angular velocity \((w_{yaw})\)

Left cross key

Speed command compensation

A

Reduce the height of your feet

B

Increase foot lift

START

Switch between continuous walking mode/standing mode

Develop mode

L2 + A

Perform position control and control the robot to perform diagnostic actions

L2 + B

Stop the diagnostic action and the robot enters the damping state

Advance Motion

Beyond the basic sports modes, the H1 robot is capable of executing more sophisticated movements. To use these advanced action modes, follow these steps:

  1. Activate the damping mode by pressing L1 + A.

  2. Press the mode selection key to enter the preparation state for the desired mode.

  3. Press the mode selection key once more to transition into the control state of that mode.

Follow the key logic for further operations within this mode. See Fig. 54 for more details.

Unitree H1 advanced motion

Fig. 54 Unitree H1 advanced motion

Mode

Mode Selection Key

Description

Sport Mode

R2 + X

The most commonly used walking action

Dance Mode

L2 + Y

Full body dynamic coordinated dance

Sports Mode

The sports mode is the most frequently used mode. To activate this mode:

  1. Press R2 + X to enter the ready state,

  2. Then press R2 + X again to switch to sports mode.

Note

R2 + X is the mode selection button for sports mode.

Dance Mode

The dance mode is a full-body dynamic coordinated dance. To activate this mode:

  1. Put the robot in a suspended state, and use L1 + A to enter damping mode.

  2. Press L2 + Y to enter the ready state.

  3. Then slowly lower the robot and press L2 + Y again to switch to dance mode. The robot will enter the standing state. At this time, you can relax or untie the protective rope.

  4. Press START, and the robot will start a whole-body dynamic and coordinated dance, and enter a standing state after the movement is completed.

Note

After each dance, you can press START again to repeat the action.