Basic Motion Command

Sit Mode

The robot will maintain the sit posture. Any joystick operation will not be working.

Sit mode

Stance Mode

• currently Sitting -> stand up
• currently Walking or Stair mode -> stop & stand in place

Stance mode

Joystick Operation

🕹️ Joystick	Command	Robot Action
L Stick	Forward / Backward	Nose up / down
L Stick	Left / Right	Roll Left / Right
R Stick	Forward / Backward	Height up / down
R Stick	Left / Right	Turn Left / Right

Walk Mode

Walk mode

Joystick Operation

🕹️ Joystick	Command	Robot Action
L Stick	Forward / Backward	Go Forward / Backward
L Stick	Left / Right	Go Left / Right
R Stick	Forward / Backward	Pitch Forward / Backward
R Stick	Left / Right	Turn Left / Right

Stair Mode

In stair mode, the robot adjusts the walking speed and leans the body according to the slope of the stairs.

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NOTE

When the robot is in stair mode,

      R Stick - Forward / Backward control keys are not used.

Stair mode

Joystick Operation

🕹️ Joystick	Command	Robot Action
L Stick	Forward / Backward	Go Forward / Backward
L Stick	Left / Right	Go Left / Right
R Stick	Forward / Backward
R Stick	Left / Right	Turn Left / Right

Docking Mode

In this mode, the robot autonomously aligns itself with the charging station.

• 🤖 The robot will stop any locomotion and begin charging once docked.

• ⚠️ Do not manually move the robot while in docking mode.

• Ensure the docking station is properly positioned and powered.

RL (Vision Trot) Mode

In this mode, the robot uses a vision-based Reinforcement Learning policy to walk. It is trained to respond dynamically to terrain using onboard camera input.

• Ideal for uneven terrain or dynamic obstacles.

• May have different responsiveness compared to manually programmed gait modes.

RL (Vision Trot) mode

Joystick Operation

🕹️ Joystick	Command	Robot Action
L Stick	Forward / Backward	Go Forward / Backward
L Stick	Left / Right	Go Left / Right
R Stick	Forward / Backward
R Stick	Left / Right	Turn Left / Right

Walking Parameter Setting

Customize Your Robot’s Gait in Real Time

Walking parameter setting

You can fine-tune the walking behavior via the GUI:

• Max Command Speed - Limits how fast the robot walks

• Body Height - Adjust vertical posture for clearance

• Foot Height - Controls how high the feet lift during swing phase