4. Basic Motion Command

Goal: Use RBQGUI and the joystick to command the robot through its basic motion modes.

Prerequisites: Auto Start must be completed (all items green).

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DANGER

Keep all people and animals at least 2 m away from the robot before and during operation. Never touch the robot while it is moving.

Sit Mode

The robot lowers itself into a stable seated position. Joystick input is ignored in this state.

Sit mode

Use Sit to safely place the robot down before packing, charging, or any pause in operation.

Stance Mode

• If currently sitting → the robot stands up.
• If currently walking or in stair mode → the robot stops and stands in place.

Stance mode

Joystick	Input	Robot Action
L Stick	Forward / Backward	Nose up / down (pitch)
L Stick	Left / Right	Roll left / right
R Stick	Forward / Backward	Body height up / down
R Stick	Left / Right	Turn left / right

Walk Mode

The robot walks in the direction commanded by the joystick.

Walk mode

Joystick	Input	Robot Action
L Stick	Forward / Backward	Move forward / backward
L Stick	Left / Right	Strafe left / right
R Stick	Forward / Backward	Pitch forward / backward
R Stick	Left / Right	Turn left / right

Stair Mode

The robot adjusts its walking speed and body lean angle automatically based on the slope of stairs.

i

NOTE

In Stair mode, the R Stick Forward/Backward input is not used.

Stair mode

Joystick	Input	Robot Action
L Stick	Forward / Backward	Move forward / backward
L Stick	Left / Right	Strafe left / right
R Stick	Left / Right	Turn left / right

Docking Mode

The robot autonomously aligns itself with the docking station and initiates charging once docked.

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CAUTION

Do not manually move the robot while Docking Mode is active. Ensure the docking station is properly positioned and powered before activating this mode.

RL (Vision Trot) Mode

The robot uses a vision-based reinforcement learning policy to walk. The policy responds dynamically to terrain using the onboard camera, making it suitable for uneven or unpredictable surfaces.

RL (Vision Trot) mode

Joystick	Input	Robot Action
L Stick	Forward / Backward	Move forward / backward
L Stick	Left / Right	Strafe left / right
R Stick	Left / Right	Turn left / right

Walking Parameter Settings

You can fine-tune the robot's walking behavior in real time from the GUI.

Walking parameter setting

Parameter	Description
Max Command Speed	Limits the maximum walking speed
Body Height	Adjusts the robot's vertical posture for terrain clearance
Foot Height	Controls how high the feet lift during the swing phase

Next Step

Check the robot's real-time sensor and system state:

→ 5. State Monitoring