WASDQE Walk — High-Level Bipedal Locomotion Teleop

plane high-level velocity RPC loop 15 Hz pulse 0.45 s tap-to-inch safety clamp 1.4 m/s / 2.0 rad/s

An always-on-top GUI that walks the bipedal G1 with the keyboard. The operator commands a body-velocity setpoint — the robot's onboard whole-body controller owns balance, gait, and leg inverse kinematics.

High-level bipedal velocity teleoperation at 15 Hz over CycloneDDS RPC services.
Bounded 0.45 s tap-to-inch locomotion model prevents velocity runaways during indoor teleop.
Patched SDK service resolution bug (3102 loco to sport) and integrated automated NIC discovery.

Phone Side · Unitree G1 Bipedal Walk

PC Side · WASD Locomotion Teleop

High-Level Locomotion Teleoperation — Bipedal Unitree G1 executing keyboard velocity commands at 15 Hz.

01High-Level Control Plane

High-level velocity control lets onboard whole-body controller handle balance and inverse kinematics.
Intuitive WASDQE mapping drives forward, strafe, and yaw rotation with immediate feedback.

Phone Side · Lab Floor Strides

PC Side · Velocity Grid & State Readout

Tap-to-Inch Precision Stepping — Bipedal gait responding to bounded pulses with instantaneous velocity telemetry.

02Tap-to-Inch Motion Model

Each keypress fires a bounded 0.45 s pulse preventing uncontrolled momentum buildup.
Layered emergency stop handles immediate freeze, compliant damping, and motor cutoff.

Safety Pendant · Live E-Stop Verification

Wireless Remote Emergency Stop — Handheld RF safety pendant executing immediate zero-torque compliant motor cutoff on walking humanoid.

03Root-Causing Error 3102

Patched ai_sport firmware mismatch that caused 3102 RPC send errors on startup.
Linux ioctl interface scanner eliminates hardcoded Ethernet device names across workstations.