Skip to content

📦Quick Start

Unboxing Video

👨‍🏫Tutorial Videos

🔌Start up tutorial

The unboxing procedure usually requires two people. One secures Adam with a suspension latch while the other one lifts Adam's legs to remove him out of the crate.

Warning

  1. Adam may be low on power upon arrival. Please fully charge it before use to ensure that Adam is operated when it is fully charged.
  2. Before use, please ensure that Adam is suspended with a latch to prevent it from falling during the test.
  3. Before turning on Adam, please confirm whether the Emergency Stop Button on Adam(the red emergency stop button on the top of Adam’s body) is sprung back. <font color="red">In case of an emergency, press the LB+RB combination key on the remote controller to cut off the power first, and then press the emergency stop button to stop the operation.</font>
  4. To prevent Adam from overheating, it is recommended that the single test use time should not exceed 30 minutes.

Special Attention

<font color="red">While walking, be careful to press the following keys on the controller to prevent the robot from falling.

  1. LT+B: Enter stop mode.
  2. LT+RT: Exit the control program.
  3. LB+RB: Actuator power off.</font>

⚡Charging

Before using the robot, please make sure that it is fully charged. Plug the charger into the supply first and then plug in to the robot as follows. Select an appropriate current through the knob on the charger（10A recommended）. charging

🖥️Start Up Instructions

  • Step1: Full Body InspectionCheck all visible cables of actuators, make sure they are all connected solidly. Make sure the Emergency Stop Switch is sprung back. Full Body Inspection
  • Step2: Router Power-On Insert the network cable that can be connected to the Internet into the WAN port of the router, and make sure that the router has an Internet connection. Power on the router and wait patiently for 30 seconds. The connection is successful when the indicator light changes from red to white. Router Power-On
  • Step3: RCU Power-On Press the golden button on the left side briefly to power on RCU. A purple indicator light confirms successful booting. RCU Power-On

  • Step4: Actuator Status Check A green Ethernet status light indicates that the upper and lower actuators are properly connected. After RCU booted successfully, there are two ways to power on the actuators:

  • Press the golden button on the left side briefly again to initiate the

  • Press Y+B at the same time on the remote controller.

After a 7-8 second wait, the actuator indicator lights should remain in a slow purple flashing state, indicating normal operation. A green Ethernet status light indicates that the upper and lower actuators are properly connected. Actuator Status Check

Note

  1. If the indicator lights do not illuminate, ensure that thered Emergency Stop Switch is disengaged.

  2. If the indicator lights turn red, press thegolden button on the left side briefly to shut down the RCU. Press the golden button again to restart the RCU.

  • Step5: NUC Power-On Press the button on the right side to power up the NUC. Wait 6 to 7 seconds until the system is fully booted. NUC Power-On

Note

Head Installation

Align the screw holes at the base of the neck with those at the connection point and secure it with screws. (The end features a power cable [Power Input: 19V/6A] and an Ethernet cable.)

📋Initialization

🛜Wi-Fi Connection

Connect your computer to the router’s Wi-Fi: Name: PndAdam Password: PND-Adam ☢️☢️☢️ Ensure the router is connected to the internet; otherwise, the demo will fail to start.

📏Zero Position Calibration

Adam’s arms and shoulders should be manually calibrated to the zero position. Perform this step once every time the robot is powered on.

Note

Zero calibration isonly required for versions without a full-body absolute encoder. Skip this step if the robot has a full-body absolute encoder.

Operator steps:

  • Hold Adam’s arm to maintain the adjusted zero position:
  • Ensure the arm is fully straightened.
  • Align the slots at the shoulder and arm joints.
  • Keep the hand one palm-width away from Adam’s torso.

机器人零位

Tip

One operator must hold Adam in the zero position while another operator performs the following steps on the computer.

▶️Launch the demo

There several methods to launch the demo:

  • using PAC in the browser
  • using one-key lauch on the remote controller
  • using ssh

warning

☢️☢️☢️Choose only one method. ☢️☢️☢️ Do not use more than one simultaneously.

Launch the Demo using PAC

Accessing PAC

  1. Locate the robot’s IP address on the back of the remote controller.
  2. Open a browser on your computer and enter the IP address in the address bar to access the PAC interface.

PAC interface

Steps:

  • Click Power On Actuator.
  • Keep the robot in the zero position and click Start Demo.
  • When PAC displays started!, press the A button on the remote control to return to zero.
  • Proceed to the demo instruction.

Launching by remote controller

Press and hold start button for 5 seconds to launch the demo. If the robot starts successfully, the green lights on the actuators will flash rapidly. 遥控器结构

Launching via SSH

Warning

Do NOT perform this step if you already launched the demo using other methods

  • Step1: Connect your computer to the router's Wi-Fi network Name: PndAdam Password: PND-Adam Use Secure Shell(SSH) protocol to connect to Adam. e.g. on a typical Linux environment, open terminal and input:
  ssh pnd-humanoid@192.168.xx.xxx

(The IP address is on the back of the Adam remote control.) Password: pndxyz

  • Step2:

Warning

Keep holding Adam in zero position, while another operator performs the following operation on the computer.

Execute the command to access the robot's demo files directory:

  cd /home/pnd-humanoid/Documents/adam_demo/bin
  • Step3: Run the script in the terminal with the command:
  sh run.sh

Wait for the "Started" message to appear on terminal. Then, press the A button on the remote controller to initiate the zeroing process. At this point, the terminal will display Adam's "roll, pitch, yaw" information. Terminal

Note

After zeroing, verify if the zero position attitude is normal; if so, proceed; if not, recalibrate using a positioning pin.

🕹️Demo Instructions

  • Step1:Gently lower Adam until both feet are solidly on the ground. If a noticeable drift is observed, wait for a while or consider restarting Adam. Put to the ground
  • Step2:Press the X button on the remote control, and Adam enters the standing status. controller X

  • Step3:Press the Y button on the remote controller to enter the walking status. In the walking status, the controller performs following functions:

  • Left joystick up and down: forward and backward walking with linear velocity

  • Right joystick left and right: Yaw with angular velocity
  • D-pad left and right: horizontal position offset

Controller Y

  • Step4:Press the RB button on the remote controller to enter running status. The speed control functions are the same as above. Press RB again to switch back to walking status, and press X to enter standing status. Controller RB+X
  • Step5:While in standing status, press the RB button on the remote controller to initiate a motion. Once a motion is completed, press the RB button again to perform the next motion. Controller RB
  • Step6:After the operation of motions is completed, press LT+B button on the remote controller to disable all the joints. After this operation, Adam's joints will lose torque. Make sure Adam is hooked to a suspension latch properly. Controller B
  • Step7: Lift Adam until the feet are off the ground, and simultaneously press the LT+RT on the remote controller to exit the control program. Controller LT+RT

Note

If "vn time out" or "abs miss" is displayed after running "sh run.sh", you can wait for a few seconds and run it again. For other error prompts, please refer to F&Q for details. F&Q

📴Shutdown Process

  • Step1:Power off the actuators There are two ways to power off the actuators:

  • Press the golden button on the left

  • Press LB+RB at the same time on the remote controller

The indicator light will go off after this operation. Power off the actuators

  • Step2: Enter the following to power off the NUC in the terminal of your computer that connected Adam via SSH:
  sudo poweroff

Poweroff

  • Step3: Press and hold the golden button on the left for more than 6 seconds until the power indicator light goes off, to put Adam to sleep mode. Sleep mode

🔋Battery Level Check

  1. Connect your computer or other terminals to the router. Make sure it is on the same network as Adam.
  2. Enter the following URL in the web browser: http://'robot_name':8086/ or 192.168.XX.XX:8086
  3. Find the Robot Name by inputing the following command on your terminal:
shell cat /etc/hostname

Battery Level Check