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Handheld Controller Operation

This stage covers the core functional operations of the robot, including various motion controls in both Whole-Body Mode and Upper-Limb Mode. The flowchart is as follows:

Whole-Body Mode​

In Whole-Body Mode, all actuators are powered on and enabled, allowing you to use the robot's full range of motion capabilities.

Start Program​

  • Select Full-Body Mode. During the program startup process, the following interface will be displayed:
  • After startup is complete, the robot will enter the "Prepare" state, the actuators will be enabled, and the handheld controller will display the following FPV interface:

Enter Standing State​

  • Click the "Stand" button, use the hoist to control the robot to slowly descend. Wait for the robot's feet to touch the ground, then adjust the robot's posture forward, backward, left, and right to allow the robot to stand steadily and enter the standing state.
  • In the standing state, use the "Right Joystick" on the handheld controller to control the robot's waist rotation and squatting up/down. Click the "Action" button to execute corresponding preset upper-limb actions.

Enter Walking State​

  • Click the "Walk" button to switch to "Walk" mode. Use the "Left Joystick" on the handheld controller to control the robot's forward and backward movement. Use the "Right Joystick" to control the robot's left/right turning and squatting up/down.
  • Click the "Action" button to execute preset upper-limb actions.

Mode Switching​

If you need to switch to Upper-Limb Mode, you can first return to the home page, click the "Upper Limbs" button, then click the "Shutdown" button on the pop-up prompt box. The robot will shut down. After restarting, it will enter Upper-Limb Mode.

(The same operation applies for switching from Upper-Limb Mode to Whole-Body Mode.)

Note:
When performing mode switching, the robot will power off completely after confirming shutdown by tapping the "Power Off" button. Please ensure that the robot is in a safe protection state before performing mode switching!

Upper-Limb Mode​

In Upper-Limb Mode, the lower limb actuators are powered on but not enabled. Therefore, the robot needs to be suspended on the hoist or fixed on a static mounting bracket.

Start Program​

  • Select Upper-Limb Mode. During the program startup process, the following interface will be displayed:
  • After startup is complete, the robot will enter the "Half Motion" state, the upper limbactuators will be enabled, and the handheld controller will display the following FPV interface:

Execute Upper-Limb Actions​

Click the "Action" button, and the robot will execute the corresponding preset upper-limb actions.