Go2 Product List

Model		AIR	PRO	X	EDU *Multiple configurations available, please contact Unitree for details
Rendering
Mechanical Parameters	Standing Dimensions	70cmx31cmx40cm	70cmx31cmx40cm	70cmx31cmx40cm	70cmx31cmx40cm
	Lying Down Dimensions	76cmx31cmx20cm	76cmx31cmx20cm	76cmx31cmx20cm	76cmx31cmx20cm
	Weight with battery	Approximately 15kg	Approximately 15kg	Approximately 15kg	Approximately 15kg
	Material information	Aluminum alloy + High-strength engineering plastic	Aluminum alloy + High-strength engineering plastic	Aluminum alloy + High-strength engineering plastic	Aluminum alloy + High-strength engineering plastic
Electrical Parameters	Power Supply Voltage	28V~33.6V	28V~33.6V	28V~33.6V	28V~33.6V
	Maximum Operating Power	Approximately 3000W	Approximately 3000W	Approximately 3000W	Approximately 3000W
Performance Parameters	Load	≈7kg((Limit ~10kg)	≈8kg (Limit ~10kg)	≈8kg (Limit ~12kg)	≈8kg (Limit ~12kg)
	Movement Speed	0-2.5m/s	0-3.5m/s	0-3.7m/s (Limit ~5m/s)	0-3.7m/s (Limit ~5m/s)
	Maximum Climbing Height	Approximately 15cm	Approximately 16cm	Approximately 16cm	Approximately 16cm
	Maximum climbing slope angle	30°	40°	40°	40°
	Basic computing power	/	8-core high-performance CPU[4]	8-core high-performance CPU	8-core high-performance CPU
Joint parameters	Maximum joint torque[1]	/	About 45N.m	About 45N.m	About 45N.m
	Aluminum alloy precision joint motors	12	12	12	12
	Extremely large joint motion range	Body: -48° to 48° Thigh: -200° to 90° Calf: -156° to -48°	Body: -48° to 48° Thigh: -200° to 90° Calf: -156° to -48°	Body: -48° to 48° Thigh: -200° to 90° Calf: -156° to -48°	Body: -48° to 48° Thigh: -200° to 90° Calf: -156° to -48°
	Inner knee joint cable routing	Yes	Yes	Yes	Yes
	Joint heat pipe for auxiliary cooling	Yes	Yes	Yes	Yes
Sensor Configuration	Ultra-wide-angle 3D LiDAR	Yes	Yes	Yes	Yes
	Wireless vector positioning Companion module	No	Yes	Yes	Yes
	High-definition wide-angle camera	Yes	Yes	Yes	Yes
	Foot force sensor	No	No	No	Yes
Function list	Basic exercise, dance, etc.	Yes	Yes	Yes	Yes
	Automatic retractable handle	No	Yes	No	No
	Smart OTA upgrade	Yes	Yes	Yes	Yes
	RTT 2.0 image transmission	Yes	Yes	Yes	Yes
	Graphical programming	Yes	Yes	Yes	Yes
	Front Light (3W)	Yes	Yes	Yes	Yes
	Wi-Fi 6 Dual-Band Wireless	Yes	Yes	Yes	Yes
	Bluetooth 5.2/4.2/2.1	Yes	Yes	Yes	Yes
	4G Module	No	Yes, CN/GB	Yes, CN/GB	Yes, CN/GB
	Voice function[5]	No	Yes	Yes	Yes
	ISS 2.0 Intelligent Companion	No	Yes	Yes	Yes
	Obstacle detection and avoidance	Yes	Yes	Yes	Yes
	Charging pile recharge	No	No	Support	Support
	Secondary development[6]	No	No	Basic support	Support
Accessories	Handheld remote control	Optional	Optional	Yes	Yes
	High computing power module	No	No	No	Optional NVIDIA Jetson Orin (40-100 Tops of Computing Power)
	Depth Camera	No	No	No	Yes
	Smart Battery	Standard (8000mAh) x 1	Standard (8000mAh) x 1	Standard (8000mAh) x 1	Long-Life (15000mAh) x 1
	Battery Life	About 1-2h	About 1-2h	About 1-2h	About 2-4h
	Charger	Standard (33.6V 3.5A)	Standard (33.6V 3.5A)	Standard (33.6V 3.5A)	Fast Charge (33.6V 9A)
Warranty Period[7]		Half a Year	1 Year	1 Year	1 Year

[1] The maximum torque in the table refers to the maximum torque of the largest joint motor; the actual maximum torque varies for the 12 joint motors.
[2] In open environment without interference and blocking.
[3] 3.Transformation and quality varies considerably in different network environments.
[4] 8-core High-performance CPU ：Supports a variety of modes, including advanced mode, AI mode, 3D LiDAR mapping, etc.
[5] Voice functions include offline voice interaction, commands, intercom and music play.
[6] For more information, please read the secondary development manual.
[7] For more detailed warranty terms, please read the product warranty brochure.
[8] The above parameters may vary in different scenarios and configurations, please subject to actual situation.
[9] If any change in the appearance of the product, please refer to the actual product.
[10] The 4G function of non-Chinese mainland version will only support 43 European countries (except Ukraine), and some Asian regions.

List of accessories

Manual controller	Standard Battery 8000mAh	Long Endurance Battery 15000mAh	Charger (Standard 3.5A)
Fast Charger (Standard 9A)	Foot End	Charging Pile	Expansion Dock (Orin Nano 8GB)
Expansion Dock (Orin NX 16GB)	Dual Cameras	The Small Servo Arm	Dual Cameras+Three in One
The Depth Camera D435i	The 3D Navigation Radar (MID-360)	The 3D Navigation Radar (HESAI XTi6)	Protective Bracket - Small

Hardware Architecture

Hardware architecture

GO2 EDU

Back load installation hole map: unit: mm

Electrical interface

• Power interface

DC 28.8V output, connected to Orin NX 8/16GB high computing power module BAT input.

• Ethernet interface

Standard RJ45 interface, connected to User PC/Orin NX 8/16GB, RJ45 Ethernet interface.

• SBUS interface

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

LIDAR

The head 4D LiDAR-L1 adopts Unitree Unitree's self-developed 4D radar technology (3D position+1D grayscale), which can achieve high-speed laser ranging sampling 21600 times per second, obtain real-time 3D information of the surrounding environment, and can be used for motion obstacle avoidance to cope with various complex road conditions!

Pilot Lamp

Color	Color and Flashing	Meaning
	Flash in green	Switching on
	Permanently on in green	Powered on, default obstacle avoidance on
	Permanently on in blue	Obstacle avoidance closure
	Permanently on in yellow	Range mode
	Permanently on in purple	Accompanying mode on state
	Low flash rate in blue	Motor & IMU calibration in progress
	Low flash rate in yellow	Low battery warning, will automatically crouch down within 10 minutes
	Low flash rate in red	System abnormality, boot failure, hardware failure, need to contact after-sales service.
	Fast flash rate in red	Motor & IMU calibration failed
	Permanently on in white	Head indicator light

Camera

The head camera supports 720p, 15fps, 1080p, 15fps dual streams. The camera has 1080P (HD) 15fps or 720p 15fps high-definition shooting capabilities, a light aperture of F2.2, and a field of view of 120°. App high-definition image transmission is possible. In an undisturbed and unobstructed environment, the camera can ensure smooth 720p 15fps high-definition image transmission.

Joint serial number and joint limit

A quadruped robot is like an animal, with its body (Trunk) and limbs (Legs) symmetrical from side to side. It has four legs and is divided into two groups in front and back,

These two groups have the same coordinate system and joint range of motion, except for the differences before and after.

Coordinate system, joint rotation axis and joint zero point

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

When all joints are at zero degrees, the coordinate systems are shown in the figure above. The red represents the x-axis, the green represents the y-axis, and the blue represents the z-axis. The calf joint cannot actually reach this position due to its limit position, and this is only to indicate the zero point position. It can be seen that the initial posture of each joint coordinate system is consistent, but the position and rotation axis are different.

Robot specifications

Dimensions

Environment

Battery related

Internal correlation

External Mount

Expansion dock

The 3D Navigation Radar

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

Depth camera

The Small Servo Arm

Remote control with screen

Dual Cameras+Three in One