Manuals¶

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Mobile Apps¶

Powering On¶

Place H1 on the ground and secure it with a rope tied in a dead knot at H1’s shoulder latch.
Hang the rope on the clasp of the protective frame to support H1.
Raise H1 along with the protective frame to prepare for startup.

Insert two batteries into the battery compartment with the key-forward orientation.
Turn the arm inward until it reaches its limit and then lower it vertically.

Ensure that the feet are cocked up to their limit.

Maintain the position as depicted in the image below:

Short press and long press both batteries simultaneously to power them up.
Wait until you hear the sound indicating that the ankle has reached its limit, and then wait an additional 30 seconds.
Press L1+A to unlock damping, then press L1+UP to enter ready mode. At this point, the feet will spread out, and the arms will be at the sides of the waist.

Lower the H1 with the protective frame until H1’s feet touch the ground and the fuselage remains stable.
Press R2+X again to activate Sport Mode, and H1 will start marching in place.
Press START to switch to standing mode, then lower the hook and remove the rope.

H1 Quick Start Video

Develop Mode¶

To enter Develop Mode, ensure that H1 is in the suspension and damping state. Then, press the L2 + R2 key combination on the remote control simultaneously, and H1 enters the Develop mode.. Once activated:

Press L2 + A → H1 enters position mode and assumes a specific diagnostic posture.

Press L2 + B → H1 returns to the damping state.

This process helps confirm whether H1 has successfully entered Develop Mode and can also be used for hardware troubleshooting. Once in Develop Mode, you can begin using the SDK for development and debugging.

Note

In the current system version, the built-in motion control program starts automatically when H1 is powered on. Even if the remote control is not operated, the system continuously sends periodic instructions with a speed of 0.

If you attempt SDK-based development without first entering Develop Mode, instruction conflicts may occur, potentially causing H1 to jitter.

To prevent this, always ensure that H1 is in Develop Mode before using the SDK to stop the motion control program from sending commands. You can verify this by pressing L2 + A.

If the robot’s response does not match the expected behavior shown in the instructional video, press L2 + R2 multiple times to ensure entry into Develop Mode.

Powering Off¶

Reattach the rope to the protection hook once H1 remains standing.
Raise the hook until there is tension on the rope supporting H1.
Press L1+A to enter damping mode.
Simultaneously short press and long press both batteries to power off the double battery simultaneously, completing the shutdown process.

Basic Operation¶

Once The H1 is Powered On and in Sports Mode:

Press START to switch to continuous walking mode
Push the left joystick forward to move H1 forward.
Press START again to stop H1 and make it stand in place.
Press START once more to return H1 to continuous walking mode.
Push the left joystick back to make H1 walk backward.
Push the right stick to the right to rotate H1 in that direction.
Push the right stick to the left to rotate H1 in the opposite direction.
Press B to increase the height of the leg lift, and press A to lower the leg lift.
Reattach the rope to the protection hook once H1 remains standing.
Raise the hook until there is tension on the rope supporting H1.
Press L1+A to enter damping mode; at this point, you can safely shut down or enter debug mode.

Operation Guide¶

Concept description¶

The following table describes the different operational modes of the robot:

Concept	Description
Zero Torque Mode	All motors of the robot stop active motion, and there is no damping feeling when swinging.
Damping Mode	All motors of the robot stop active motion, but there is a clear damping feeling when swinging. This mode allows the robot to enter Ready Mode.
Seating Mode	The robot will slowly transition into a seated position within 5 seconds.
Ready Mode	The robot will slowly swing into the preparatory posture before entering Motion Mode, within 5 seconds.
Motion Mode	A mode in which the robot can be controlled to move via a remote control.
Standing Mode	When the joystick input is zero, the robot stops stepping and remains in the standing state. When the joystick input is non-zero or the robot is disturbed and cannot maintain balance, it will start taking steps to regain stability.
Dance Mode	A mode for whole-body dynamic coordinated dancing.
Debug Mode	This mode is used for low-level development. When using the SDK for development and debugging, ensure that the robot is in Debug Mode to stop the motion control program from sending commands. This prevents potential command conflicts. You can press L2 + A to confirm whether the robot has successfully entered Debug Mode.

Mode Switch¶

Attention

When entering Seating Mode, it is necessary to press against the robot’s back. When exiting this mode, push the robot back to transition out of it.

Note: The H1-2 model has only one diagnostic mode and does not support Seating Mode.

Key Description¶

The following table provides an overview of button commands for different modes:

Mode	Button	Description
General	L1 + A	Enter Damping Mode
General	L2 + R2	Enter Debug Mode
Damping Mode	L1 + UP	Enter Ready Mode
Damping Mode	L1 + B	Enter Zero Torque Mode
Motion Mode	R2 + X	Enter Motion Mode
Motion Mode	Left Joystick Right Joystick X Y A B START L2 + Y Double Click UP Double Click DOWN	Translational velocity command ($v_x, v_y$) Yaw angular velocity command ($omega_{yaw}$) Decrease standing height Increase standing height Decrease leg lifting height Increase leg lifting height Adjust posture, take a few steps in place, then stop Enter Dance Mode and return to Motion Mode Handshake Wave Hand
Debug Mode	L2 + A	Perform position control for diagnostics
Debug Mode	L2 + B	Stop diagnostics, enter Damping State