About Quadruped Robots About Us

Wang Xingxing

Unitree Robotics

宇树科技

Founder & CEO

About Quadruped Robots About

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Which new hardware will become popular in the next 10 years?

1990~ 2000~ 2010~ 2020~

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People are expecting robots to enter people's lives faster and closer.

Quadruped robot:

Compared with wheeled robots： it has better motion performance and is more

interactive and friendly in appearance;

Compared with biped robots：the technical difficulty is lower, the reliability is higher,

and there is no uncanny valley effect;

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XDog(2013~2016) 8108 BLDC direct drive Try direct force control

Laikago (2016~2017) Direct force control

Laikago Pro (2018~) Direct force control Continuous operation for a long time

Aliengo (2018~) Direct force control,etc.

We believe that better motion performance, higher reliability and lower cost are the ways to achieve the above expectations.

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Aliengo (2018~) • More flexible and reliable joint

torque system • Stronger computing • More sensors, more accurate motion

perception • More friendly development

environment

We believe that better motion performance, higher reliability and lower cost are the ways to achieve the above expectations.

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We believe that better motion performance, higher reliability and lower cost are the ways to achieve the above expectations.

469.8mm

i7 or TX2

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112.0mm

We believe that better motion performance, higher reliability and lower cost are the ways to achieve the above expectations.

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Battery

We believe that better motion performance, higher reliability and lower cost are the ways to achieve the above expectations.

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360°rotation joint

We believe that better motion performance, higher reliability and lower cost are the ways to achieve the above expectations.

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Multi-vision system

We believe that better motion performance, higher reliability and lower cost are the ways to achieve the above expectations.

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With a better appearance(structure), you'll want to write more interesting features for him. With a better appearance(structure), you'll want to write more interesting features for him.

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Some of the techniques we used

1） Joint impact protection

2）New torque system

3） Sensor wireless power supply

4） Foot status display

5）Force control

6）Cooling system

We believe that better motion performance, higher reliability and lower cost are the ways to achieve the above expectations.

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1)、 Joint impact protection

Legged robots, no matter how perfect the software, there will always be

falls in various situations.

Therefore, at the beginning of the design, it is necessary to carefully

consider the protection problem after the fall.

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Laikago（2016~） Aliengo（2018~）

Slide

Slide

Patent…

1)、 Joint impact protection

Core idea: "dislocation" protection

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F F

2)、New torque system

Laikago some problems with joints ：

1） The gear reducer has been used for a long time and will have a large wear in

some places.

2） The joints are not beautiful enough, such as the knee joint motor external

arrangement.

3）Outer joint cable, low reliability, and not beautiful enough.

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Ideal Joint motor (Torque source) / Direct drive

Motor drive board set Motor drive board XDog 2013~2016

2)、New torque system

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Patent…

2)、New torque system

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advantage: 1, to avoid joint threading (whether outside the joint or within the joint), 2. The thigh is lighter and the moment of inertia is small. 3, 360 degrees continuous rotation,

Knee motor

Thigh Motor +Reducer

Reducer

Patent…

2)、New torque system

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Cooling system：Cooling fan intelligent speed regulation

2)、New torque system

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3)、 Sensor wireless power supply

Advantage:

Eliminate the power

cord of the joint and

the cost itself is very

low.

Disadvantages:

Increase robot power

consumption and

increase system

complexity.

Patent… Unitree Robotics

4)、 Foot status display

Easy to observe the status of each leg.

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5)、Force control

Laikago(2017) : Direct force control & …

Features: The adaptability of any terrain, even if the foot ends slip or fall

(such as the edge of the stairs)

Complex terrain (stones, steps) = flat

Origin：XDog(2013~2016) Unitree Robotics

Laikago : Direct force control & …

Complex terrain (stones, steps) = flat

Laikago pro(2018)

Force form the Ground

5)、Force control

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A little thought about the development of four-legged development in

the future:

Motor-driven quadruped robots will gradually appear more in our life.

The hardware architecture of the robot itself is more consistent (optimized)

The robot body hardware itself is more reliable, the performance is more

powerful, and the life is longer.

Since the high-performance robot hardware mentioned above is relatively

convenient, the robot software is more diversified and perfected, and some

basic applications can be realized.

Software and hardware promote each other, making the four-legged robot

more perfect.

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About Unitree Robotics some new developments

1）Formally began to

accept orders in 2018,

small batch production

and successive delivery:

2）Developer version of

the robot for sale, open

low and high level

control interfaces

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Thank you！

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