Remote Control

Mode Definitions

Concept	Description
Damping Mode	All joints stop active motion and remain at their current positions. There is noticeable damping when joints are moved.
Zero Position Mode	All joints move to predefined fixed positions and lock.
Standing Mode	The robot enters a standing state. Roll, pitch, yaw, and body height can be controlled. Predefined actions can be executed, and teleoperation or data recording can be enabled.
Walking Mode	The robot enters walking state. Walking speed and rotation speed can be controlled.
Running Mode	The robot enters running state. Running speed and rotation speed can be controlled.
Developer Mode	Recommended to enter from Damping Mode. Used for SDK development. In this mode, the robot receives user control data for custom control.

RCU Indicator Instructions

The RCU indicator is located below the battery cover on the front of the robot's chest.

Status	Color
RCU startup successful, Not connected to NUC	🟣 Purple, fast breathing
RCU startup successful, Connected to NUC	🟣 Purple, slow breathing
Developer mode	🔵 Blue, slow breathing
Low battery	🔴 Red, fast breathing
Battery not connected	🔴 Red, slow breathing
Zero position check abnormal	🟡 Yellow, steady on
Actuator abnormal	🟡 Yellow, slow breathing
Absolute encoder abnormal	🟡 Yellow, fast breathing

Operation Instructions

Mode	Button	Previous State	Description
Damping Mode	LT + B	Any Mode	Can be entered from any mode. Used for safe stop or entering Developer Mode
Zero Position Mode	A	Damping / Standing	Enter Zero Position Mode, all joints move to fixed positions and lock
Standing Mode	X	Zero Position / Walking	Enter Standing Mode, predefined actions, teleoperation, and data recording are available
	RB	Standing	Execute a single predefined action
	Left Joystick (Horizontal)	Standing	Control body roll
	Left Joystick (Vertical)	Standing	Control body pitch
	Right Joystick (Horizontal)	Standing	Control body yaw
	Right Joystick (Vertical)	Standing	Control body height
	D-pad →	Standing	Enable teleoperation receiving mode
	D-pad ←	Standing	Exit teleoperation receiving mode
	RT + D-pad ↓	Standing	Start / stop data recording. Record all joint + finger position data - Record path: /etc/pndbotics/pnd_adam_dds - Playback path: /etc/pndbotics/pnd_adam_dds/Sources/motion
	X	Walking	Switch from Walking Mode back to Standing Mode
Walking Mode	Y	Standing / Running	Enter Walking Mode from Standing Mode. Joysticks control walking and rotation speed
	Left Joystick (Vertical)	Walking	Control forward / backward speed
	Right Joystick (Horizontal)	Walking	Control yaw angular velocity
	D-pad	Walking	Control lateral position compensation
	RB	Running	Switch from Running Mode back to Walking Mode
Running Mode	RB	Walking	Enter Running Mode from Walking Mode. Joysticks control running and rotation speed
	Left Joystick (Vertical)	Running	Control forward / backward speed
	Right Joystick (Horizontal)	Running	Control yaw angular velocity
	D-pad	Running	Control lateral position compensation
Developer Mode	LO + RO	Damping Mode	Enter Developer Mode from Damping Mode. Receive user control data for custom control
	LT + B	Developer Mode	Exit user control and return to Damping Mode
Actuator Power Off	LB + RB	Any Mode	Immediately cut off power in emergency situations
Actuator Power On	Y + B	Power On	Used for legacy step-by-step startup and recovery after emergency power-off

Button Description

Pairing & Connection

The controller is paired by default at the factory and connects automatically after power-on.
If you need to replace the controller and re-pair it, follow the steps below:

1. Enter the robot IP in the browser: 192.168.XX.XX (found on the back of the controller) to access the PAC interface.
2. Press and hold the controller pairing button until the indicator light flashes rapidly.
3. Click Wireless Settings, find the device name Xbox Wireless Controller under Available Devices, and click to pair and connect.

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Last Updated: 2026-02-03