Motion commands are sent from the motion card on the left of the control home. A short tap sends the command immediately; the button that matches the robot's current gait is highlighted.
DANGER
Every command here moves the real robot. Keep people, animals and obstacles at least 2 m away before pressing, and make sure the robot has completed Auto Start and stands on a stable surface.
| Button | What the robot does |
|---|---|
SIT | Folds down into the sitting pose. Joystick input is ignored |
STAND | From sitting: stands up. From walking or stairs: stops and stands in place |
WALK | Starts the walking gait — the joysticks now move the robot |
STAIRS | Stair gait: slower steps with the body leaning to the slope |
DOCKING | Walks onto the charging dock by itself. The button is only there when docking is available — it is not offered on Rapid robots, and it disappears while the Dock scan vision toggle is on (the docking overlay on the video takes over) |
Two of the buttons carry a small dot in the corner: long-press them to open a sub-list.
SIT → Static · Calib: ZMP Calibrate (balance calibration while standing still).WALK → Dynamic Motions: Model Walk (the classic model-based walk), Wave and Run. Run is not offered on wheeled robots.While standing, the joysticks adjust the posture instead of moving the robot:
| Joystick | Input | 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 |
| Joystick | Input | 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 |
| Joystick | Input | Robot action |
|---|---|---|
| L stick | Forward / Backward | Go forward / backward |
| L stick | Left / Right | Go left / right |
| R stick | Left / Right | Turn left / right |
WARNING
On stairs and slopes, keep the approach slow and straight. Do not intervene by hand while the robot is adjusting its posture.
The dashed Motion button at the bottom of the card opens the Select motion grid (Tap to run, then close). Tapping a tile sends that motion and closes the grid.
STAIRS and DOCKING are not in the grid — they are buttons on the motion card already.
Model gait
| Tile | What the robot does |
|---|---|
Wave | Wave gesture |
Run | Faster trot |
Model Walk | Classic model-based walking gait |
AI motion
Gaits driven by the robot's learned (AI) policy. A tap runs the motion immediately.
AI motion
Several AI motions jump, run or balance on two or three legs. Stand the robot up first, keep at least 2 m clear on all sides, and use flat, non-slippery ground.
| Tile | What the robot does |
|---|---|
AI Walk | Walking gait driven by the learned policy |
AI Vision | Learned walking gait that also uses the cameras to read the terrain |
AI Vision Slow | Same as AI Vision, at a slower pace |
AI Pronk | Hops with all four legs together |
AI Bound | Bounding gait — front and rear leg pairs move together |
AI Pace | Pacing gait — legs on the same side move together |
AI Run | Fast running gait |
AI 2Leg L / AI 2Leg R / AI 2Leg F | Balances on two legs (left, right or front pair) |
AI 3Leg HL | Balances on three legs with the rear-left leg lifted |
Precision·Calib
| Tile | What the robot does |
|---|---|
ZMP Calibration | Balance calibration — same as the long-press item under SIT |
What developer mode adds here is collected on Developer mode.
Docking
During docking the robot moves on its own. Do not push or steer it, and make sure the dock is placed correctly and powered. The robot stops and starts charging once it is on the dock.
Tap Drive in the tool buttons next to the left joystick to open the Drive parameters popover.
| Control | Range | Effect |
|---|---|---|
Vision Walk | on / off | Uses the camera-assisted walking policy while in WALK. Switching it while walking changes the policy immediately |
Max Speed | 0.50 – 2.50 m/s | Upper limit of the walking speed the joystick can command |
Body Height | −0.25 – +0.10 m | Standing height offset relative to the default |
Body Tilt | −25° – +25° | Fixed pitch of the body while walking |
| Reset to default | — | Restores speed 1.0 m/s, height 0 and tilt 0 |
Slider values are sent to the robot when you release the slider, not while dragging.
What developer mode adds here is collected on Developer mode.