Specifications comparison

Model		Go2-EDU	Go2-W
Rendering
Mechanical parameters	Standing size	70cmx31cmx40cm	70cm x 43cm x 50cm
	Power-off and lying-down dimensions	76cmx31cmx20cm
	Material	Aluminum alloy + high-strength engineering plastic	Aluminum alloy + high-strength engineering plastic
	Weight with battery	About 15kg	About 18kg
Electrical parameters	Power supply voltage	28V~33.6V	28V~33.6V
	Maximum working power	About 3000W	About 3000W
Performance parameters	Load	About 8kg (limit ~12kg)	About 8kg (limit ~12kg)
	Movement speed	0~3.7m/s (limit ~5m/s)	0~2.5m/s
	Maximum climbing drop	About 16cm	＜ 70cm
	Maximum climbing slope angle	40°	35°
	Basic computing power	8-core high-performance CPU	8-core high-performance CPU
Joint parameters	Aluminum alloy precision joint motor	12	16
	Knee joint internal wiring	Yes	Yes
	Joint heat pipe auxiliary heat dissipation	Yes	Yes
	Ultra-large joint movement space	Body: -48~48° Thigh: -200~90° Calf: -156~-48°
	Maximum joint torque[1]	About 45N.m	About 45N.m
Sensor configuration	Ultra-wide-angle 4D laser radar	Yes	Yes
	Wireless vector positioning companion module	Yes	No
	Wide-angle camera 120°	Yes	Yes
	Foot end force sensor	Yes	Yes
Function list	Basic sports, dance, etc.	Yes	Yes
	Automatic retractable handle	No	No
	Intelligent OTA upgrade	Yes	Yes
	APP HD image transmission	Yes	Yes
	APP basic remote control	Yes	Yes
	APP data viewing	Yes	Yes
	APP graphical programming	Yes	No
	Handheld remote control	Yes	Yes
	Front lighting (3W)	Yes	No
	Wi-Fi 6 dual-band wireless 802.11ax	Yes	Yes
	Bluetooth 5.2/4.2/2.1	Yes	Yes
	4G module	Yes, CN/GB	Yes, CN/GB
	Voice interaction and command	Yes	No
	Voice intercom	Yes	Yes
	Music playback (speaker 3W)	Yes	Yes
	Intelligent companion	Yes	No
	Object detection and obstacle avoidance	Yes	No
	Secondary development[2]	Yes	Yes
	High computing power module	Optional 40-100Tops computing power	Optional 40-100Tops computing power
	Battery type	Long battery life (15000mAh)	Long battery life (15000mAh)
	Battery life	2-4h	1.5-3h
	Charger	Fast charging (33.6V 9A)	Fast charging (33.6V 9A)
	Warranty period	1 year	1 year

[1] There are 16 joint motors with different maximum torques. This is the maximum torque of the largest joint motor.
[2] For detailed functions, please refer to the secondary development manual.
[3] Go2-W does not support offline voice. You can access the Unitree Go App-BenBendog to communicate with Go2-W and issue commands.

Accessories list

Two-hand remote control	GO2-W long-life battery 15000mAh	Go2-W charger (fast charge 9A)	Go2-W charging station
Docking station (Orin NX 16GB)	Remote control with screen, dual camera set	Servo robot arm	Remote control with screen, dual camera set + 3 in 1
Vision Realsense D435i	3D radar (MID360)	16-line navigation 3D radar (Hesai XT16)	Protective bracket - small

Hardware architecture

Part Name

GO2-W

Electrical Interface

• Power interface

DC 28.8V output, connected to the BAT input of the Orin NX 16GB high computing module.

• Ethernet interface

Standard RJ45 interface, connected to User PC/Orin NX 16GB, RJ45 Ethernet interface.

• SBUS interface

Used for communication connection on the universal remote control, this interface does not provide power output, interface definition (from left to right): NC/GND/SBUS.

Lidar

The head 4D LiDAR-L1 adopts Unitree's self-developed 4D radar technology (3D position + 1D grayscale). It can achieve 21,600 high-speed laser ranging sampling per second, obtain three-dimensional information of the surrounding environment in real time, and can be used for motion obstacle avoidance, and can cope with various complex road conditions!

Indicator light

Color	Status	Meaning
	Green light breathing	Booting
	Green light always on	Booting completed
	Blue light flashes slowly	Motor & IMU calibration in progress
	Yellow light flashes slowly	Low battery warning, will automatically climb down within 10 minutes
	Red light flashes slowly	System abnormality, boot failure, hardware failure, need to contact after-sales
	Red light flashes quickly	Motor & IMU calibration failed
	White light is always on	Front searchlight (3w)

Camera

The head camera supports 720p, 25fps, 180p, 25fps dual streams. The camera has 1080P (HD) 30fps or 720p 60fps high-definition shooting capabilities, aperture F2.2, and field of view 120°. App high-definition image transmission is possible. In an undisturbed and unobstructed environment, the camera can ensure smooth 720p 60fps high-definition image transmission.

Joint serial number and joint limit

Like animals, the body (Trunk) and limbs (Leg) of the quadruped robot are symmetrical. The four legs are divided into two groups according to the front and back.

Except for the front and back differences, the coordinate system and joint range of motion of these two groups are the same.

Coordinate system, joint rotation axis and joint zero point

The rotation axis of the fuselage joint is the x-axis, the rotation axis of the thigh joint and the calf joint is the y-axis, and the positive direction of rotation conforms to the right-hand rule.

When all joints are at zero degrees, the coordinate systems are as shown above. Red is the x-axis, green is the y-axis, and blue is the z-axis. Due to the limit of the calf joint, it cannot actually reach this position. Here it is only to indicate the zero point position. It can be seen that the initial posture of each joint coordinate system is the same, but the position and rotation axis are different.

Robot Specifications

Dimensions

Environment

Battery related

Internal related

External mounting

Docking station

LiDAR

Go2-W is compatible with two types of LiDARs, MID-360 and Hesai XT16 LiDARs can be used for Slam navigation.

Depth camera

Servo arm

Remote controller with screen

3-in-1 remote control with screen