Unitree A1

The A1 was Unitree's mid-size research quadruped and the direct ancestor of the Go1 line. Unitree quotes a maximum continuous running speed of 3.3 m/s (11.88 km/h) and a maximum joint speed of 21 rad/s, with peak joint torque of 33.5 N.m — figures that made it one of the fastest commercially available legged robots of its generation. Effective payload is 5 kg and endurance is given as one to two and a half hours. The robot ships with a standard Intel RealSense depth camera using active infrared stereo over a 0.3 to 10 m range, four foot-end pressure sensors and dual high-performance onboard controllers running a real-time operating system. Expansion is handled through two HDMI outputs, two Ethernet ports and four USB ports, plus a 24 V external power input and 5 V, 12 V and 19 V outputs for user hardware. Unitree does not publish dimensions, total weight or a price for the A1; the model has been superseded by Go1 and Go2 but is still widely used in university locomotion research.

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