Operation Basics
SETUP AND USE CASES
Use the controller for responsive controls.
The Controller has easy access to safety commands where as the App may not always be connected.
The app provides a camera and environment scan to help you navigate.
A general approach is to:
Turn on the controller (short + long press power button on the bottom of the controller).
Press Start to unlock joints.
Fix the iPad onto the controller, and connect it to the Robot Dog.
Press "Go" on the iPad, it should provide a live camera footage as a visual guidance.
Start operation. (moving using joystick on controller, perform other instructions on the iPad).
Refer to the bottom of the page for more detailed instructions.
Controller Set Up
The controller is pre-configured with the RobotDog and has a longer connection range. This allows a better control for movement of the RobotDog using the joysticks.
On the controller:
Short + long press the power button on the controller. You should hear a "beep" sound when the controller is successfully activated.
The Robot Dog should stand up by itself once powered on.
Hit Start to unlock the joints of the Robot Dog, and it can start receiving commands.
You can now fix the iPad onto the controller.
First, pull apart the console to widen the space.
Fit the iPad onto the controller in a portrait manner.
Emergency Stop & Restart
If at any point there is any malfunction, the general procedure is as follows:
Lock the joints - this disengages the motors, and drops the dog to the ground - this can be loud.
On the controller, this is done by pressing L2+B. (Damping).
In the app, use the Damping command.
Turn off the Robot Dog - short press + long press the button on the battery.
Reset to Prone Position; note that after the above commands, the unit IS NOT in the expected Prone Position even though it might look like it is.
Turn back on, be ready with the controller to stop again if required.
If issues persist, it may require a calibration. Please see NExT Lab staff.
App Set Up
On the iPad, go to Unitree Go App to access the mobile controller.
The app should be configured to using AP mode; a direct connection between the iPad and the dog.
The app is configured with a NExT Lab account with the Go2 Robot Dog bound to it already.
Press connect once the dog is on to establish the connection. You might have to do this several times to launch a successful connection.
The homepage of the app control should show a successful connection (green status) on the top left of the screen.
Hit "GO!" to enter the control interface.
Controls
DO NOT PICK UP THE DOG WHILE IT IS ON
The interface includes all fundamental movement controls, specific instructions and a live camera footage from the Robot Dog. A general of the surrounding is shown in the background so you are aware of what is around the robot.
To start:
The Robot Dog will likely be in a Prone position; [Stand Up] will stand up and unlock the joints for moving.
Use the interface to control the Robot Dog.
To return the dog to prone; use [Damping] or [Crouch Down]. You must set the dog to Prone when changing modes, it is on standby, and before shutting down.
Joystick Controls
LEFT - movement control
RIGHT - rotational control
Sub-Modes
Access different navigation modes, such as stair climbing, posing. Damping and Crouch Down commands are found here for entering the Prone position.
Camera Button
A screenshot from the camera
Video Button
A video recording from the camera
Obstacle Avoidance
Toggle obstacle avoidance. Avoids clashing into surrounding objects when moving around
Obstacle Avoidance
Obstacle avoidance ensures the safety of both the robot dog and its surroundings by preventing collisions and damage. It also improves navigation efficiency by enabling the robot to find the shortest, obstacle-free path in real-time.
If this is turned on, the Robot Dog will automatically:
Try to navigate around smaller obstacles
Stop collision with larger obstacles / walls etc.
Stop at drops / ledges (i.e. top of stairs)
Picking a Mode
Mode selection is located next to the "GO!" button.
Ensure Robot Dog is laying flat on the ground before switching to Advanced / AI mode to prevent it from toppling over.
The Robot Dog is set up as General Mode by default, you can also switch to Advanced mode and AI mode for more functions.
General Mode
In General Mode, the Robo tDog is capable of executing fundamental functions, including adjusting its speed and adopting various postures such as sitting and crouching, ensuring versatile and adaptable mobility.
Advanced Mode
Advanced mode allows complex controls over the speed and ways of movement for the Robot Dog.
AI Mode
AI mode allows the Robot Dog to recover from falls automatically and adapt to complex terrain.
It is recommended to only use AI mode at low speeds.
Powering Off
The RobotDog must be in the Prone position, flat on the ground before switching off.
On the controller:
Press L2+A to lock the joints of the RobotDog.
Press L2+A again to set the RobotDog back into its prone position.
Short + long press the power button to shut down.
Alternatively on the App:
Select the "Crouch Down" command in the list and ensure the RobotDog is prone.
Short + long press the power button to shut down.
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