# Troubleshooting

## Operation

**Dog seems unbalanced or tilted.**

1. Go to "Device" on the home page.
2. Select "Data" > "RoboDog".
3. Scroll down to "Calibration" and select "imu".
   1. **IMU** stands for inertia measurement unit, it detects the robot's motion and orientation (broken down into roll, pitch and yaw), helping it maintain its balance and stability.
4. Ensure the Robot Dog is in its prone position, where all 4 abdominal support pads are touching the ground.
5. Press "Calibration starts" on the app and let the calibration runs.
6. Restart the Robot Dog after the imu calibration is completed.

{% hint style="info" %}
Joint and limb calibration will only be carried out by NExT Lab staff.
{% endhint %}

***

## Handling

#### I picked it up while it was on, what do I do?

1. Place the Robot Dog back onto a flat ground, ensuring all feet are touching the ground before releasing.
2. Ensure the Robot Dog is standing upright. Move around and observe for any abnormal behaviour.
3. If issues arise, lock the joints or use damping, and try to stand it up again.
4. If required, use emergency stop + reset procedure:
   1. Use Damping command (L2 + B on controller, 'Damping' in App)
   2. Turn off and reset to Prone Position
   3. Power on but be ready to emergency stop it again.
5. Check its standing posture:
   * Ensure it is standing upright.
   * Move it around and observe its walking behavior.
6. Proceed with operation only if **no abnormal behavior** is detected.

***

## Falls

#### Robot Dog has fallen over and unable to correct itself

{% hint style="danger" %}
We do not recommend this solution as this might disrupt the calibration and create possible defects to the hardware. Please reach out to the NExT Lab team immediately and only perform this action with approval
{% endhint %}

1. Ensure the Robot Dog is in **Damping** mode to lock its joints (choose Damping on the iPad).
2. Shut down the Robot Dog by pressing its power button (1 short press + 1 long press) until the battery is turned off.
3. Place the Robot Dog on a **flat surface**.
4. Lift the Robot Dog and adjust its arms and legs back to its prone position.
5. Restart the Robot Dog.
6. Check its standing posture:
   * Ensure it is standing upright.
   * Move it around and observe its walking behavior.
7. Proceed with operation only if **no abnormal behavior** is detected.


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