Unitree Z1 Robotic Arm

Advanced Robotics Laboratory (034401), Technion, Spring 2025

Instructor: Prof. Damiano Padovani

Implemented trajectory planning and pick-and-place tasks for the Unitree Z1 (6-DOF) using z1_sdk.

Technical Implementation

  • SDK Setup: Configured z1_controller and z1_sdk for robot communication.
  • Control Modes: Used joint-space (JOINTCTRL) and Cartesian-space (CARTESIAN) control.
  • Trajectory Planning: Used polynomial trajectories for smooth motion.
  • Pick-and-Place: Built task routines using MoveJ, MoveL, and MoveC.
  • Drawing Task: Tracked end-effector paths for marker drawing.
  • Teach & Replay: Recorded trajectories in TEACH mode and replayed them with TEACHREPEAT.
Unitree Arm 1
Unitree Arm 2
Unitree Arm 3
Unitree Arm 4
Unitree Arm 5
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