UNITREE GO1 Robot Dog Electronic Dog Quadruped Robot Artificial Intelligence accompanying Technology Dog Bionic Robot

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For binocular depth sensing to work properly, please ensure the ambient lighting conditions are good and that obstacles are textured on the surface. There is a possibility of mutual interference between ultrasonic probes, please ensure that there is no ultrasonic emitter around the robot.

ttyTHS1, ttyAMA0 are the serial ports on Nano and RasPi respectively, which have been configured on the system, do not modify the system configuration when using, so as not to make the device unusable. 6.2 SDK ¶ On both sides of the head of Go1, there are two light strips, and we also provide corresponding sdk for developers to use. 5.1 Hardware and SDK ¶ Motor data, 20 MotorState structure arrays, the first 12 of which are valid, and the number of each motor can refer to the quadruped.hMotorState structure Desired yaw-pitch-roll Euler angle, with euler[0] = Roll,euler[1] = Pitch,euler[2] = Yaw.RPY setting can be used in mode 1 as target orientation.Yaw setting can be used in mode 3 as target yaw angle. Among them, the first five call the camera locally, just compile and run directly; the two transmission samples, one for sending and one for receiving, need to be run separately. 7.3 SDK usage example ¶

Front camera Port ID=9201, Chin camera Port ID=9202, Left camera Port ID=9203, Right camera Port ID=9204, Belly camera Port ID=9205. We also asked Wang Xingxing, Unitree’s CEO, about how they were able to make Go1 so affordable, and here’s what he told us: The sports mode is started and established, with the center of the fuselage as the origin, the forward direction is the x direction, the left direction is the y direction, and the vertical upward direction is the z direction.

It is recommended to use cable connection to update firmware, but connecting WIFI("Unitree_Go1******") is also an option. There are two ways to use ultrasound on Go1, one is to use the lcm topic provided by Unitree to receive all the ultrasound data, and the other is to read the serial data directly. Unitree prefers to use the former. 6.2.1 Receive all ultrasound data using the lcm topic provided by Unitree ¶Running new programms on early firmware is problematic, our robot dog cannot standing up or work under this circumstance. If software version is Go1_2022_01_14 or earlier (sport mode <= 1.34.0), you need to update firmware following step 4.

cd bin ./ example_UltraSound ./ example_UltraSoundGroup 7. Development and use of Go1 binocular fisheye camera ¶ The vector positioning mainly uses radio signals, when there is an obvious obstruction between humans and robots, there is a high probability that the robot will lose the actual position of the person. Therefore, when operating, we can artificially choose an ideal route of travel. gst-launch-1.0 udpsrc port=9201 ! application/x-rtp, media=video, encoding-name=H264 ! rtph264depay ! h264parse ! omxh264dec ! videoconvert ! autovideosink 7.3.4 Simultaneously acquire images from the front camera of the head and the camera of the chin ¶The Super Sensory System includes five wide-angle stereo depth cameras, hypersonic distance sensors, and an integrated processing system This method is to use the serial port of the board to directly read the information of the ultrasonic module. Unitree provides the sdk for use. The sdk is located at ~/Unitree/sdk/ultraSoundSDK_RasPi (the one on Nano13 is also in the corresponding position). After the program starts, it will occupy the serial port, so before using this method, you need to kill the program that occupies the device. If the sender has sent, but the program cannot receive it, you can enter the following command on the PC terminal to test: pls dont change] It's a switch in distortion process of fisheye camera. 1 represents “Longitude and latitude expansion of fisheye camera”; 2 represnets "Perspective distortion correction".

If the required dependencies have been installed on the robot dog, it can be compiled and used directly; The 5 groups of cameras are distributed on the front face, chin, left and right sides of the fuselage and abdomen. In terms of hardware, the front camera and chin camera are connected to the Nano on the head (192.168.123.13), the cameras on both sides of the fuselage are connected to the Nano (192.168.123.14), and the belly camera is connected to the main Nano or NX (192.168 .123.15) on. The camera SDK provides color and depth video streams, as well as internal calibration information, and also provides point clouds and depth images aligned with color images. Please note that SDK version ≥ 3.4 is applicable for Go1 2.3 The dependencies required by the SDK and its running permissions ¶

Desired x and y position in the inertial frame, which is established at the beginning instance of the sport mode. Position setting is used in mode 3 as target position. Before compiling, you need to modify the library file called in the CmakeList file, and choose amd64 or arm64 according to your own platform.