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Robot Remote Control

Keyboard Control

Open MobaXterm or VSCode for SSH connection. After successful SSH connection, enter the following command to operate OriginMan:

ros2 run originman_teleop_keyboard teleop_keyboard

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After startup, OriginMan will enable all servos and execute the standing action. Then you can control the robot's movement using keyboard controls according to the log information displayed in the terminal.

Robot Action Key Mapping Table

Keyboard Key Action
w Move Forward
s Move Backward
a Turn Left
d Turn Right
i Stretch Both Arms
o Big Laugh
q Wave
x Rub Hands
c Sit-ups
u Bow
j Sit-ups
k Stand

Gamepad Control

Gamepad Connection

First, insert the USB component from the kit into the USB port of the OriginMan controller, then install batteries in the gamepad.

After connection, you can confirm if the system has successfully recognized it by entering the following command in the terminal:

$ ls /dev/input/

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If the "js0" device is detected, it means the gamepad has been successfully recognized.

Remote Movement Control

Open a terminal and run the following command:

$ python3 /userdata/dev_ws/src/originman/originman_pydemo/joystick.py

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Button Action Mapping Description

Button Name Corresponding Action
PSB_R1 right_kick
PSB_R2 turn_right
PSB_L1 left_kick
PSB_L2 turn_left
PSB_SQUARE left_shot_fast
PSB_CIRCLE right_shot_fast
PSB_TRIANGLE wave
PSB_CROSS bow
Left Stick X-axis < -0.5 left_move_fast
Left Stick X-axis > 0.5 right_move_fast
Left Stick Y-axis < -0.5 and PSB_L3 not pressed go_forward
Left Stick Y-axis > 0.5 and PSB_L3 not pressed back_fast
PSB_START stand_slow

You can now control the actions according to the corresponding buttons listed above.

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