Movements

make sure a E-Stop is active and the joints are enabled

Standing up

To instruct the quadruped robot to stand up, use the following line:

Python

# Sample code for standing up
bysense.movs.stand_up()

Safety Precautions

• Keep 1m distance from the robot while it is standing up.

• Clear the surroundings of any potential obstacles that the robot might encounter during the standing-up process.

• Verify that the ground is flat and stable before initiating the stand-up operation to ensure proper balance and stability of the robot.

Once you run the standup command keep a safety distance of min. 1 m like in the image shown:

Keep a operating safety distance of min. 1m and check all four legs looks visually the same when standing up to ensure a correct calibration.

Sit Down

To instruct the quadruped robot to sit down, use the following code:

python

# Sample code for sitting down
bysense.movs.sit_down()

Note:

• The sit_down method is used to command the quadruped robot to transition from a standing position to a seated position.

• If the robot is not currently in a standing position, the SDK will raise an exception or provide a message indicating that sitting down is only possible from a standing position.

Safety Precautions

• Ensure that the robot has enough space and a stable surface to perform the sitting down operation.

• Keep a safe distance from the robot during the sitting down process to prevent accidents.

make sure the ground is flat for bysense to sit down and no obstacles are placed under it.

Blind Walking based on vector

To instruct the quadruped robot to walk in a specific direction with a certain speed for a specified duration, provide a directional vector (x, y, z), a speed value, and a duration in seconds. Use the following code as a template:

python

# Sample code for walking with speed and stopping
# Move forward with a speed of 0.5m/s in the x direction
walking_vector = (0.5, 0.0, 0.0)

# Start walking
bysense.movs.walkblind(walking_vector)

# Simulate additional operations while walking
time.sleep(2.0)  # Simulate other operations for 2 seconds

# Stop walking
robot.stop_walking()

# Continue with other operations or exit the program as needed

• The robot.walk command initiates the walking motion with the specified walking_vector

• Additional operations, such as a sleep for simulation purposes, can be performed while walking.

• The robot.stop_walking() function is called to stop the walking motion when needed.

• After stopping walking, the program can continue with other operations or exit as necessary.

Safety Precautions

• Always ensure a clear and obstacle-free path for the robot when initiating walking commands as this is a blind walking

• Periodically check the surroundings to avoid potential collisions during the walking operation with humans

• Set appropriate speed and duration values to control the walking pace and time.

the walking controller within the robot is based on a machine learning model and trained together with our custom models in the background.