The motion of a robot includes damping, standing locking, balanced standing, basic motion, special actions, and protective state states. During operation, the robot switches between different states through a state machine to achieve different control tasks. The explanations for each state are as follows:

Table of Contents

Damping State

All joint motors immediately stop moving and enter damping mode.

L2 + B

Standing Lock State

The robot remains standing while keeping the motor locked.

L2 + A

• Basic Motion: During the motion execution process, the SDK interface can be called to put the robot into a damped or balanced standing state to terminate the current motion service.
• Special Action: When entering the special action execution state, other motion control services will be suspended first, waiting for the current action to complete and enter the balanced standing state before taking effect.

Basic Movements

Gait

trot gait: Walking

trot gait is the most efficient gait among quadruped robots

START (Press double times)

trot running Gait: Running

This gait has a higher stride and frequency than a normal trot gait, and has a higher walking speed