Process Overview

┌───────────────────────────────────────────────────────┐
│                  Robot Power-On Process               │
├───────────────────────────────────────────────────────┤
│                                                       │
│  1. Robot power on                                     │
│     └─ Maintain zero position calibration pose        │
│                                                       │
│  2. Controller power on, auto pairing                  │
│     └─ Before controller is connected, robot maintains zero position │
│     └─ After controller connects, robot automatically enters fold mode (robot motors are powerless) │
│     └─ After controller connects, no need to maintain zero position calibration pose │
│                                                       │
│  3. Lift the robot (legs half suspended)              │
│                                                       │
│  4. Press [×] key ────→ Stand mode                   │
│     └─ Robot smoothly switches to standing pose (~3 seconds) │
│     └─ After switching is complete, place the robot on the ground │
│     └─ Confirm the robot can stand stably before proceeding to the next step │
│                                                       │
│  5. Press [△] key ───→ Walk mode                    │
│     └─ Robot will slowly switch to walk mode          │
│     └─ After switching to walk mode, confirm the robot can stand stably before proceeding │
│                                                        │
│  6. During walking, use the stick for control:        │
│     └─ Left stick Y-axis: forward/backward            │
│     └─ Right stick X-axis: turn left/right           │
│                                                        │
└────────────────────────────────────────────────────────┘

When the program goes out of control and you encounter danger, you can press 【×】 for emergency stop!!

Press 【o】 to exit the program, after which it cannot be controlled.

Zero Position Calibration Pose

Every time the robot's joint motors are powered on, the robot enters a special state. In this state, the robot uses the current joint position as the zero position for calibration. Therefore, we need to maintain a specific pose when powering on. This pose is the zero position calibration pose. The diagram of this pose is as follows:

Initial Debugging Effect

The robot's walking effect is closely related to factors such as assembly quality and zero position calibration accuracy. If you find that the robot is walking unstably or has obvious deviation, it is recommended to first check the assembly quality and zero position calibration accuracy before further debugging.