Calibration & Tuning
You can perform ZMP calibration and various tuning in the app to improve the robot's walking stability and performance.
ZMP Calibration
ZMP (Zero Moment Point) calibration aligns the center of ground reaction force while the robot is standing, so the robot can maintain balance during walking.
Preparation
- Place the robot on a flat, solid surface.
- Ensure there are no obstacles around the robot.
- The RBQGUI app must be connected to the robot.
Procedure
- Launch the RBQGUI app and connect to the robot.
- Set the robot to Stance (standing) mode.
- Open the Settings menu from the top-left of the screen.
- Under Motion, select ZMP Calibration.
- Tap the robot icon in the top-left to return to the home screen and confirm that Gait: ZMP Init is displayed.
- Do not touch or move the robot until calibration is complete.
- When the display changes to Gait: Stance, calibration is complete.
- Move the robot and verify that it operates correctly.
CAUTION
Do not place objects on the robot or push the robot during calibration. If calibration fails, you may need to run it again.