Robot drifts to one side

You command the robot to walk straight and it veers to one side, or its body looks tilted while standing. There is no single cause, so work through the steps in order — the earlier ones are both more common and quicker to check.

1. Floor and initial pose

Cause: On a sloped or slippery floor the robot drifts sideways. Starting from an initial pose that is not left-right symmetric has the same effect.

Fix: Try again on a flat, solid floor. Before switching the power on, check that the legs are folded symmetrically.

→ Initial Pose

2. Payload configuration

Cause: If equipment is mounted on the robot but its mass and position were never entered — or entered incorrectly — the robot miscalculates its center of mass and drifts. Leftover values after removing equipment cause the same problem.

Fix: Check that the configured values match what is actually mounted, and re-enter them if they differ. If all equipment has been removed, reset the values.

→ Payload configuration

3. ZMP calibration

Cause: If the center of ground reaction force is off while the robot stands, it keeps leaning to one side while walking too. This is the item that acts most directly on drift.

Fix: Run ZMP calibration again, on a flat solid floor with nothing mounted on the robot.

→ Calibration & Tuning

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CAUTION

Do not push the robot or place objects on it during calibration. Calibrating in that state makes the drift worse.

4. Leg module condition

Cause: A leg module or foot that has worked loose or worn down pushes the robot that way.

Fix: Sit the robot down, switch the power off, then check by hand whether any leg has play and whether one foot pad is noticeably more worn than the others.

→ Leg Module · Foot

Still stuck?

Tell us how far through steps 1–4 you got, along with:

• which direction it drifts (left, right, forward, backward)
• whether it is already tilted while standing, or only drifts while walking
• whether it only happens in a particular gait mode

→ Contact us