Manual Control

To control the Unitree B1 robot manually, first of all you ned to turn the robot and remote control on. To know how to turn the robot and remote control on, please refer to the B1 Start Up section.

The B1 robot can be controlled in the following ways:

  1. After powering on, the robot directly enters the ordinary walking mode, at this time you can push the joystick to control the robot forward and backward, shift side to side, in-place turning, etc. if you do not push the joystick, it will stop moving.

  2. When the walking mode is stationary, press SELECT -> to enter a static standing state, at which point you can control the position through the joystick.

  3. In static standing state, press START -> into walking mode.

  4. In ordinary walking state, press L2+START -> to switch obstacle mode. At this point, the joystick can be pushed to control the robot to walk over obstacles and climb stairs, and if the joystick is not pushed, it will stop moving. Crossing the obstacle walking mode by pressing L2+START can switch back to the normal walking mode.

  5. In any state, press L2+A -> to lock the robot and press START to unlock the robot.

  6. After the robot locks, press L2+A The robot is in a lying state. press L2+A 2 times, and the robot completes locking - lying down

  7. Press L2+A to stand up in the lying state, currently the robot is in a locked state, press START to unlock the robot. (That is, press L2+A 3 times, and the robot completes the locking-lying down-standing in turn.

  8. In any state, L2+B-> damping state/low-power state, in which the robot will lie down and need to press L2+A to make him stand up.

  9. L1+L2: Lock the B1 remote control, in which case the remote control will not be able to control B1. Press L1+L2 to control B1 again. This button requires B1 to be used with the Z1 robotic arm, and the remote control can be switched to the control robotic arm.

Remote Control Commands

Table 1 Remote Control Commands (aligned)

Key

Effect

Left Rocker

Push Forward/Backward

Move back and forth/prone Position

Push Left/Right

Sideways Movement/Twist

Right Rocker

Push Forward/Backward

Head Up or Down/Pitch

Push Left/Right

Left or Right Turn/Shake Head

START

Walking Mode

SELECT

Static Standby Mode

Position Switch

L2 + A

Lock the joints and get in to a prone position

Return to the standing position (Locked joints)

L2 + B

Damping state

L2 + START

Walking mode (Mode 2)

Obstacle-crossing Walking Mode (Mode 3)

Three Movement States

Mode 1: Static Standby Mode

Normal standing, push the rocker to body twist

Mode 2: Ordinary Walking Mode

Push the joystick to move

Mode 3: Obstacle Walking Mode

The obstacle can be moved by joystick

  • Mode 1, Press START to enter Mode 2, Mode 2/3 press SELECT to enter Mode 1

  • Mode 2, in static state, press L2+START to switch to Mode 3

  • Mode 3, in stop state, press L2+START to enter Mode 1

Note

To have more information about the remote control, please read the documentation of the robot in Unitree B1.