Recently, netizens brought to light the 2016 master's graduation thesis of Wang Xingxing, the CEO of Unitree Technology. Titled "Development and Testing of a Novel Electrically Driven Quadruped Robot," this thesis presented design principles for electrically powered quadruped robots and introduced a small-scale robot dubbed XDog. XDog operates entirely on electric power, with each of its legs boasting two links and three degrees of freedom, summing up to a total of 12 degrees of freedom. It employs high-power-density brushless motors to directly actuate the joints. The robot's frame is crafted from a combination of aluminum alloy and carbon fiber materials. Its control system incorporates attitude sensors and foot-end tactile feedback, along with refined PD control and feedforward compensation strategies, facilitating a range of gait modifications. Experimental results demonstrated that XDog could walk steadily across flat surfaces, slopes, and gravel, achieving a maximum speed of 0.6 meters per second and a battery life spanning from 30 to 60 minutes. The entire research and development expenditure for the robot was kept within the range of 10,000 to 20,000 Chinese yuan. XDog secured the second prize in the Shanghai Robot Design Competition and was highlighted in IEEE's Spectrum. Leveraging this project, Wang Xingxing garnered 2 million Chinese yuan in angel investment and established Unitree Technology in 2016, assuming the roles of CEO and CTO. In its formative years, the company independently developed key components such as motors and 3D LiDAR, launching a series of cost-effective robotic dog products that are now sold worldwide. Commencing in 2023, Unitree Technology ventured into the humanoid robot sector, unveiling its G1 humanoid robot in August 2024 at a starting price of 99,000 Chinese yuan, marking a historic milestone as the first humanoid robot priced below 100,000 Chinese yuan. Presently, Unitree Technology has evolved into an embodied AI unicorn enterprise with a valuation in the billions of Chinese yuan, with plans to submit its IPO filing documents between October and December 2024.