> For the complete documentation index, see [llms.txt](https://ms-kb.msd.unimelb.edu.au/next-lab/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://ms-kb.msd.unimelb.edu.au/next-lab/robotics/robotic-dog/advanced-operations.md).

# Advanced Operations

## Complex Terrains

{% embed url="<https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LXautSvCbUco5Lv7YrH%2Fuploads%2FZZFoZH6QVwwar2ErkxoW%2FComplex%20terrains.mp4?alt=media&token=2cd15d60-97d8-448d-a9bb-c04c96957498>" %}

The Robot Dog's performance and movement are influenced by the selected mode of operation, each tailored to optimize mobility and functionality in specific scenarios. Understanding these modes ensures efficient and effective operation across varying terrain conditions.

## Stairs and Steps

{% hint style="danger" %}
**The Go2 has a tread limit of 160mm.** \
If you exceed this height difference it is likely that the dog will topple over.
{% endhint %}

### General Mode + Climbing Stairs Settings

By default, General Mode offers two modes of moving up stairs dependent on the facing of the dog (looking up or down the stairs). The Robot Dog does short steps in hopes of catching or going down a ledge. This mode mostly works but requires small adjustments to better match the movement pattern to the ledge width/height. \
\
**Rotating the dog 45 degrees whilst still moving forward/backwards may help in better positioning as it catches or drops to a ledge.**

{% embed url="<https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LXautSvCbUco5Lv7YrH%2Fuploads%2FS2GgUxCgNA8T6uL5tJho%2FStairClimbGeneral.mp4?alt=media&token=41f6a638-1d08-410f-97e6-1c6e246e20fa>" %}

### AI Mode

AI Mode enables the Robot Dog to adapt more effectively to steps by using more of its sensors, optimizing its movements for greater efficiency.

{% embed url="<https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LXautSvCbUco5Lv7YrH%2Fuploads%2FyaZsHVnTfxYuk9WRgk6K%2FAIStair.mp4?alt=media&token=d6b6ab92-5b92-4d5e-aab7-e9ba90877225>" %}

***

## Malfunction Procedure

**If in doubt, refer to the standard** [**emergency stop + reset** ](/next-lab/robotics/robotic-dog/operation-setup/operation-basics.md#emergency-stop-and-restart)**procedure.**\
The following is for when that might not be possible or if you wish to attempt a recovery instead.

{% embed url="<https://files.gitbook.com/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LXautSvCbUco5Lv7YrH%2Fuploads%2FuWjDdoSpgTBU2csIMnX7%2FDog%20Falling%202.mp4?alt=media&token=d1a2b25f-6d81-401b-b0f8-f53ba188159f>" %}

There are moments where the Robot Dog may trip over or suffer a fall due to obstacles during operation. The Robot Dog is equipped with an automatic fall recovery function, however there are times when the function does not operate as expected.

If the RobotDog is malfunctioning, here are some ways to recover the RobotDog. Please be cautious to avoid any damage to the robot or injuries to the operator.&#x20;

**Using the Ipad:**

1. If the Robot Dog is in a position where it may be able to stand up (i.e not on its back), try pushing the **Stand-up** command on the iPad, to initiate a recovery.&#x20;
2. If the RobotDog is tilted (as video above) or flipped, press use the [**emergency stop + reset**](/next-lab/robotics/robotic-dog/operation-setup/operation-basics.md#emergency-stop-and-restart) procedure.

**Remote Control:**

1. You may try the **L2 + A** cycle to reset the dog into the Prone Position.
2. If the Robot Dog is in a position where it may be able to stand up (i.e not on its back), press **L2 + X** , to initiate a recovery.&#x20;
3. If that fails, use the [**emergency stop + reset**](/next-lab/robotics/robotic-dog/operation-setup/operation-basics.md#emergency-stop-and-restart) procedure.&#x20;

{% hint style="warning" %}
If you are experiencing any abnormal behaviour of the Robot Dog after falling, including unusual walking, please contact NExT Lab immediately.
{% endhint %}