Motion-Programming.pdf

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Contents
Motion program................................................................................................................................................................. 3
1. The process of LINE Maker APP.......................................................................................................................... 3
2. The composition of motion programming tools.................................................................................... 4
3. Motion programming Ⅰ............................................................................................................................................ 5
3-1. The connection of Bluetooth and create a new folder............................................................................... 5
3-2. The programming of ‘Ready posture’ ...............................................................................................................10
3-3. The programming of ‘Waved ceremony’.........................................................................................................23
3-4. Cut count & Play time..............................................................................................................................................41
3-5. The programming of ‘Bend ceremony’ ............................................................................................................46
3-6. Torque..............................................................................................................................................................................60
3-7. The programming of ‘Standing up when fall down (Front side)’ ........................................................69
3-8. The programming of ‘Standing up when fall down (Back side)’..........................................................90
4. Motion programming Ⅱ.......................................................................................................................................111
4-1. The programming of ‘Move to the left’........................................................................................................111
4-2. The programming of ‘Move to the right’.....................................................................................................120
(Use the principle of symmetry)
4-3. The programming of ‘Turn left’.........................................................................................................................128
4-4. The programming of ‘Turn right’ .....................................................................................................................134
4-5. The programming of ‘Walk’................................................................................................................................139
4-5-1. The programming of walk forward................................................................................................................................ 139
4-5-2. The programming of walk forward and halt............................................................................................................. 155
4-5-3. The programming of walk backward ............................................................................................................................ 158
4-5-4. The programming of walk backward and halt ......................................................................................................... 170
5. Flowchart...........................................................................................................................................................................173
5-1. What is a flowchart?...............................................................................................................................................173
5-2. The composition of flowchart tool..................................................................................................................174
5-3. Create a new flowchart .........................................................................................................................................175
5-4. Download process file & Control robot........................................................................................................248

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Motion program
Robot want to make some kinds of motion, you need make program. Just as fast to turn a sheet
of paper with a motion map, like a series of motions can be formed. The robot in a static
state to make a position, and then all positions together can form a set of motion.
1. The process of LINE Maker APP
The motion of the LINE-Core m can be programmed in the process of the LINE Maker APP.
By using process edit tools can be ① program flowchart, ② program motion, ③ open or
download process files and motion files.
① Program flowchart ② Program motion ③ Download process file
※ The LSC-m of LINE-Core m contains program file that is basic motion, such as fighting, soccer, and missions.
Run LINE Maker APP Select ‘Process’ Select ‘MY ROBOT’ or ‘Example’

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2. The composition of motion programming tools
Download the process file
Motion name
Menu button
Create new motion file
Name: Pose name
Cut: The cut count to run pose
Play Time: The time to run pose
Detailed motion edit box
Motion flag box
Bluetooth connection
Save, open, and create new process file

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3. Motion programmingⅠ
3-1. The connection of Bluetooth and create a new folder
When programming motion of the robot, in order to confirm the position and appropriated
speed of the LSM-micro of the joints of the robot, you need to connect your smart phone and
robot via Bluetooth. This chapter introduces the methods to connect smart phone and robot
with Bluetooth and learn how to create a new folder to store the programmed process file
and motion files.
1. After running ‘LINE Maker APP’, select the “process”.
2. If you want to create a new process file, please select the “New Process File”.

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3. In order to confirm the motion of LINE-Core m when programming the robot, you need to
connect LINE-Core m with the smart phone with bluetooth.
Turn on the LINE-Core M “Power switch” and press “B1 button”.
Button
LED light
Function that can be run on LINE Maker App
LED1 LED2
① Power switch Flash
Robot power on status
→ Bluetooth connect with smart phone and download process file
② Press B1 once Flash
The status of power on, but no running process
→ Make flowchart & motion, change ID, zero adjustment
③ Press B1 twice Flash
The status of power on and run process
→ Use smart phone to check basic motion
④ Press B2 once Flash End current process → The same status as No.2
⑤ Press B2 twice Flash Cut off LSM-micro power supply→ The same status as No.1
B1 button
LED1 LED2
When LSM-micro is powered,
LED1 blue light on,
LED2 blue light flash.
Power switch
TIP.
- When power on and download the process file, the LED1 turns green and confirm the robot motion by smart phone.
- B1 as ON function button, press once to supply power, press twice to run process.
- B2 as OFF function button, in the state of running process, press once to end process, press twice to cut off power supply.
- When LED2 lights on other colors except blue, please charge the battery.

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4. As shown in the following figure,
after pressing in the process window, please press .
5. If the Bluetooth is disable on the smart phone, the ‘Bluetooth Authorization Request’
message window pops up. Please choose “YES”.
※ If the Bluetooth on the smart phone is enable, will pop up as shown in the window in the NO.6.

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6. Press “Scan”, select the corresponding robot ID.
After the smart phone and the robot are connected, the button color will change.
7. As the following, create a new folder to save the programmed process file and motion
files.
After pressing , will pop up the ‘Process file’ window, select “Save”, then press
the “Folder Add”.
If you create a new folder, you can easily find the new process file and motion files that have been written.

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8. Input the name of new folder and then press “Confirm”. Select the new folder that was
created.
9. Specify the name of process file and then press “Save”.
Named the process file based on
the user’s preference.
The path to save
process file.
The path of saving new process
file.
Motion Programming
- The new folder is named by user’s preference.
- The generated new folder is the path to save process file（flowchart & motion file）.

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3-2. The programming of ‘Ready posture’
The robot should be in posture of ready motion before doing any motion. ‘Ready posture’
is the standing posture of the robot in a steady state.
1. In the process window, press the , select “New”, add motion and enter the motion
name, then press “Confirm”.
2. To program the ‘Ready posture’, first press the to add pose.
The LINE-Core m is composed of 18 LSM-micros, press to add LSM-micro ID01 ~ ID18.
The user can name motion programming file according to own preferences, but it is recommended to name it
associated with the motion.
Name of programming
motion file
The color of button will
change.

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3. As shown below to confirm the needed LSM-micro ID and press “Add”, the LSM-Micro ID01
~ ID18 are completed to add, and then press is finished.
The ID number
need add
Added ID number

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4. Now confirm the basic information（position & speed value, etc.) of LSM-Micro ID01
~ ID18. Press , the robot will operate the corresponding pose.
5. As shown below you can change the name of the generated pose.
The red marked section can manually change the pose name.
(The blue logo section automatically changes the pose name.)
- After pressed, the pose is added, and the pose name is
automatically generated.
- Similar to the usual pose, or some particular pose, like ‘Ready’
pose situation, use the name consistent with the edit pose will be
more convenient to understand.
- This button is only running the pose that has been selected in the ‘pose flag box’.
- When confirming the pose,
in order not to let the robot fall on the ground or fall down, please hold on the battery case.
Pose flag box

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TIP.
The first method to add LSM-micro ID: After confirming LSM-micro ID number, press "Add".
The second method to add LSM-micro ID: Press "ID", select the ID you want to add, then press "Add".
The ID number
need to be added
Added ID number

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6. First of all, Make the LSM-micro ID01 ~ ID10 of lower body joint to be ‘Ready posture’.
Press the “P/S”, select the LSM-micro ID01 ~ ID10.
To delete LSM-Micro ID: Select the ID to be deleted and press “Delete”.
Press the "All" button on the top and
all LSM-micros will be selected.

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7. When all the lower body joints（LSM-micro ID01 ~ ID10) are in open state, can adjust the
LINE-Core m posture by hand directly. Refer to the following figure, try to program the
ready posture of the lower body joints.
8. When the program of ready posture of the lower body is completed, press “Confirm”.
And then confirm the P/S value of lower body joint（LSM-micro ID01 ~ ID10).
① Make the lower end of the battery cover and the robot heel in vertical state.
② Make the robot legs in vertical state.
③ Make the feet are in the horizontal state.
※ At this point, don’t use the brute force when adjusting the pose by hand.
①
②
③
※ The P/S value of each robot is likely to be different.
In order not to let the robot fall down, make the lower body joints slightly curved, the upper body mild tilt.

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9. Next, program ‘Ready posture’ the of upper body joints of LSM-micro ID11 ~ ID18.
As shown below, press the “P/S”, select the LSM-micro ID11 ~ ID18.
10. When all the upper body joints（LSM-micro ID11 ~ ID18) are in open state, can be adjust
the LINE-Core m posture by hand directly. Refer to the following figure, try to program
on the upper body joints to be ready posture.
③
②
④
①
① Right arm LSM-micro ID15 is bent at right angles (90 °) with the ‘ARM frame’. →The left arm maintains the same state.
② Right arm LSM-micro ID13 is bent at right angles (90 °) with ‘SHOULDER frame’. →The left arm maintains the same state.
③ Please refer to the upper right picture for the location of two hands.
④ The waist(LSM-micro ID17) and the head(LSM-micro ID18) are facing forward.
※ At this point, don’t use the brute force when adjusting the pose by hand.

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11. When the program of ready posture of upper body is completed, press “Confirm”.
And then confirm the P/S value of upper body joint（LSM-micro ID11 ~ ID18).
12. The next step is to save the completed ‘Ready posture’ motion file and process file.
First, save the motion file. Press , then press “Save”. Select the newly created
“MP folder”.
※ The MP folder selected here is the folder created in '3-1. The connection of Bluetooth and create a new folder'.
In the blue dotted line, drag
to left and will see button.

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13. Confirm the file name of ‘Ready’ motion, and press the “Save”.
14. The following step is to save the process file. Press , and then press “Save”.
Select the newly created “MP folder”.

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15. Confirm the ‘MP’ process file name, and press the “Save”.
TIP.
The first method to change the P/S value of LSM-micro:
As same as the above, use the 'P/S' button to manually adjust the robot posture.
Press “P/S” button. Select the LSM-micro that
need adjust the P/S value.
Adjust the position of the
robot directly by hand.
※ The newly edited 'Ready posture' motion file has been added to the 'MP process file(MP.PRC)’.
The MP process file selected here is the process file created in '3-1. The connection of Bluetooth and create a new folder'.
Please save the motion file and the process file separately!
Since there are a plurality of motion files in a process file, the motion file can be used when the process file is run,
and the upload and download functions are set separately when the process file and the motion file are shared on
the website. Therefore, the motion file and process file need save separately.

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The second method to change the P/S value of LSM-micro:
Select a LSM-micro that you want to adjust the ‘P/S value’, and it can be adjusted in this window as shown.
Select the P/S value of
LSM-micro ID17.
Eg: Adjust the P/S value of the waist (LSM-micro ID17).
< The P/S value of LSM-micro ID17 is zero. >
Slide button
After the robot posture is
adjusted, press “Confirm” button.
Confirm the change in the P/S value.
- The above method 1 is more convenient when adjust multiple LSM-micros at once.
- When adjust the robot posture by hand, you will see the P/S value of LSM-micro are changing.
- Do not use brute force when adjusting robot posture by hand.

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- The above method 2 is used when adjusting a few LSM-micros.
- When P/S value of LSM-micro is adjusted on smart phone, the robot will operate the
corresponding posture.
- When adjusting the P/S value of LSM-micro on smart phone, to avoid the robot from falling,
please hold on the battery case.
< The P/S value of LSM-micro ID 17 is -100 >
Use the slide button, or use button to change
the P/S value of LSM-micro ID17 to -100.
Use the slide button, or use button to change
the P/S value of LSM-micro ID17 to 100.
< The P/S value of LSM-micro ID 17 is 100 >
- As shown above, after adjusting the P/S value of LSM-micro ID17, press
“Confirm” button.
※ Make the robot head and waist are facing forward when editing 'Ready
pose’.

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Sort out!
: Connect the smart phone and robot communication.
: Add and open motion file.
: Add pose.
: Add, delete, and set the LSM-micro.
: Only running the selected pose.
: Save motion file.
: Save, open, and create new process file.

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3-3. The programming of ‘Waved ceremony’
This chapter will learn how to import the process file and motion file you created before.
And introduce left and right waving and right hand ‘waved ceremony’ programming.
1. After running LINE Maker APP, select the process.
2. As shown below，open the process file and motion file ‘The programming of Ready posture’
in chapter 3-2.
First, select the “MP folder”, then select “MP process file (MP.PRC)”. The“Process
file load?” window pops up, and then press “Confirm”.

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3. In the process of robot programming, in order to confirm the motion of robot, you need
to connect robot and smart phone via Bluetooth first.
Turn on the LINE-Core M “Power switch” and press “B1 button”.
Button
LED light
Function that can be run on LINE Maker App
LED1 LED2
① Power switch Flash
Robot power on status
→ Bluetooth connect with smart phone and download process file
② Press B1 once Flash
The status of power on, but no running process
→ Make flowchart & motion, change ID, zero adjustment
③ Press B1 twice Flash
The status of power on and run process
→ Use smart phone to check basic motion
④ Press B2 once Flash End current process → The same status as No.2
⑤ Press B2 twice Flash Cut off LSM-micro power supply→ The same status as No.1
B1 button
LED1 LED2
When LSM-micro is powered,
LED1 blue light on,
LED2 blue light flash.
Power switch
TIP.
- When power on and download the process file, the LED1 turns green and confirm the robot motion by smart phone.
- B1 as ON function button, press once to supply power, press twice to run process.
- B2 as OFF function button, in the state of running process, press once to end process, press twice to cut off power supply.
- When LED2 lights on other colors except blue, please charge the battery.

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4. After pressing in the “Process” window, please press .
If the Bluetooth is disable on the smart phone, the ‘Bluetooth Authorization Request’
message interface pops up. Please choose “YES”.
5. Press “Scan”, select the corresponding robot ID.
After the smart phone and the robot are connected, the button color will change.
※ If the Bluetooth on the smart phone is enable, will pop up as shown in the window in the NO.5.

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6. To program the ‘Waved ceremony’ motion, you must open the process window first, and
then press .
Select “New” and enter the new motion file name “HI”, and press “Confirm”.
7. In order to allow the robot to start the first pose in a smooth posture, so the ‘Ready
posture’ that has been prepared in chapter 3-2 need to be copy-paste first.
As shown below, after select the “Ready” motion file, press , select the pose
you want to copy, press “Copy”.
The file name of new motion is named by
user according to personal preference.
Select "Ready" motion file.

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8. After copy the ‘Ready’ pose, select the “Hi” motion file that needs to be paste.
Press and then press “Paste”.
9. When finish the copy of ‘Ready’ pose, press button.
Select “Hi” motion file. Press Copy button,
the Paste button is activated.
The copied ‘Ready’ pose
After putting the copied poses, be sure to press and be considered already complete the copy - paste.
If not press button, press the other motion file or return button on smart phone, the paste information will be
lost.

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10. The following is the program of robot in the pose of raising right hand up to do waved
ceremony.
Press ，add pose and change its name.
11. Change the P/S value of the right hand LSM-micro ID11, ID13, ID15, see the below figure.
※ Choose the appropriate poses when changing the name or information of the poses.
HU-I → Hand Up-In
LSM-micro ID11.
Use the slide button, or use button
to adjust the P/S value of LSM-micro ID11.
And press "Confirm".
Robot will become to the
corresponding pose.
Slide button

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The P/S value of LSM-micro ID11 changed.
Select the P/S value of LSM-micro ID13.
corresponding pose.
Select the P/S value of LSM-micro ID15.
corresponding pose.
※ When the robot does not make the corresponding pose, please confirm the Bluetooth connection and LED of LSC-m.
(About the LED of LSC-m, please refer to the above 3rd point.)

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12. Next is to change the colors of LSM-micro LED.
After pressing the “Color” and select “All”.
TIP.
As shown below, you can press the P/S button, select the LSM-micro ID11, ID13,
ID15, and then adjust the position by hands directly.
Press "All" is to choose all LSM-micros.
If you only want to change part of the LSM-micros LED color, select the corresponding LSM-micros ID.

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13. The following is to use the LSM-micro ID15 to make the pose that the right hand of robot
to extend out. Press , to add the pose and change the pose name.
Use red, green and blue three colors to
custom color and then press "Confirm".
※ When changing the LSM-micro LED, first select the LSM-micro you want to adjust, then change the color.
※ When changing the color of LSM-micro LED, because the high value of LED will cause overheat, please set the value of
LED less than "150".
※ When the robot does not make the corresponding pose, please confirm the Bluetooth connection and LED of LSC-m.
(About the LED of LSC-m, please refer to the above 3rd point.)
The LSM-micros' LED will appear
the corresponding color.
※ Choose the appropriate poses when changing the name or information of the poses.
HU-O → Hand Up-Out

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14. Refer to the following figure for the operation of changing the P/S value of LSM-micro
ID15.
15. After pressing the “Color” and select “All”. Custom the color, then press “Confirm”.
LSM-micro ID15.
corresponding pose.

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16. The next is to do the right hand moving three times under the ‘Waved ceremony’ motion.
Copy-paste the file previously generated pose2(HU-I) and pose3(HU-O)，and then
press .
Select Pose2(HU-I) and Pose3(HU-O) and press “Copy”.
17. After confirming the position of the copied pose2(HU-I) and pose3(HU-O), press “Paste”
twice.
Paste under the pose3(HU-O).
Paste the copied posture to . Paste the copied posture to other locations, you can click .
Press Copy button,

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18. Confirm pose4(HU-I) ~ pose7(HU-O) already copied, press .
19. The following is how to return to ready posture after the ‘Waved ceremony’ motion.
In order to recover the outward stretched right hand, need copy-paste pose2(HU-I).
Press , select the pose2(HU-I), press “Copy” to confirm the paste position, and
then press “Paste”.
Repeat to paste pose2(HU-I) and pose3(HU-O) 2 times.

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20. After confirming the pose8(HU-I), press “Back”.
21. After copy-paste the ‘Ready’ pose, press .
After copy and paste pose2(HU-I), in order to copy the pose1(Ready), press "Back" button again.

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22. Confirm the motion of the waved ceremony ‘Hi’.
First, select the “pose1(Ready)”, press , and the robot will do the motion of
ready posture.
23. Press to download the‘Hi’motion file, press to confirm the motion.
The 'Hi' motion file is downloading. After download, press to
confirm the motion.
- When running, you want to pause, press .
- Confirm the motion and press "Confirm".
※ When you use button to download the newly edited motion file, the original basic process file(Basic or Dance
files in Example) in the robot will be erased.
If you want to download the original basic process files, please refer to page 250.

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TIP.
To repeatedly run some of the motions can use button and buttons.
Press button. Select the first pose to
run repeatedly.
① As shown below, after pressing the button, select the first pose and the last pose that need to be repeated:
Select the last pose to
run repeatedly.
The color of the
button changes. Repeated
section
② Press button to repeat the motion of selected pose.

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24. Save the programmed waved ceremony ‘Hi’ motion file and process file.
Firstly, save the motion file. After pressing , and press “Save”, select the
saved “MP forder” before.
③ Press button to pause the operation, press button to stop the repeated operation.
※ After repeated operation, press button to stop the repeated operation.
0 0

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25. Press “Save” after confirming the name of ‘Hi’ motion file.
26. Save the process file, press “Save” after pressing .
Select the “MP forder” that was built before.

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27. Press “Save” after confirming the name of ‘MP’ process file.
※ The newly edited motion file of waved ceremony “Hi” motion was saved in the 'MP process file(MP.PRC)’ that have been
saved when introducing '3-1. The connection of Bluetooth and create a new folder'.
: Download the programmed motion file and then run motion.
Sort out!
: Copy, paste and delete pose.
: Repeat to run some of the poses.
: ① Operate the selected pose until the last pose.
(Press after selecting the first pose, operate the pose from first to
the last.)
② Press to repeatedly operate the selected pose.

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3-4. Cut count & Play time
Let’s look the change of waved ceremony ‘Hi’ motion file after adjusting cut count and
paly time.
1. At first, copy the ‘Hi’ motion file that was finished in ‘3-3. The programming of
waved ceremony’.
After pressing , and press “Load”, select the saved “MP forder”.
2. Select “Hi.MTN” motion file.
As shown below, after pressing the generated waved ceremony “Hi” motion file about 2
seconds, the motion file name could be changed.

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3. In order to operate pose2(HU-I), the play time of preparing the pose should be adjusted
after the robot does the ready postur.
Under selecting the pose1(Ready), select in order:“Play time — 20 — confirm”.
※ As shown above, the cut count should be 1 when the paly time is 20. Because the shortest time is 20msec to operate a cut.
Cut count & Play time
Cut : The corresponding pose was divided into several counts to run.
If the count of cut is too small, the robot motion will look broken, ad if the count of cut is too big, the robot
motion will look soft, so adjust the count of cut based on the pose.
Play Time : Play time 1 is 1000msec when running the corresponding pose.
(That is, if paly time is 1000, it refers to 1 second.)
Cut count & Play time : The least paly time of a cut is 20 msec.
TIP.

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4. Next, change the paly time of the pose2(HU-I) ~ the last pose9(Ready) “600”.
※ Select the corresponding pose when changing the name and information of pose.
Select “Paly time” after selecting
the “Pose” need to be changed.
Press “Confirm” button after
changing the paly time is "600".
Confirm the paly time is changed
'600'.

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5. The following is the motion comparison of the waved ceremony ‘Hi’ motion and ‘Hi(2)’.
At first, select “Hi” motion file, press , and press .
Then, select “Hi(2)” motion file, press , and press .
'Hi' motion file:
Paly time is 1000, Cut count is 30.
Save the new waved ceremony ‘Hi’ motion file.
The saving method is same as the contents in 24 ~ 27 point of ‘3-3. The programming of Waved ceremony’.
'Hi(2)' motion file:
Paly time is 600, Cut count is 30. (First pose only : Play time is 20, Cut count is 1)

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TIP.
mark beside motion file name.
The motion file with mark can be deleted. The method as below:

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3-5. The programming of ‘Bend ceremony’
Try to program ‘Bend ceremony’ motion according to the count of cut and paly time learn
before.
1. To program the ‘Bend ceremony’ motion, you must open the process window first, and
then press .
Select “New” and enter the new motion file name “Bow”, and press “Confirm”.
2. Copy and paste the ‘3-2. The programming of Ready posture’ for the robot to operate
the first pose as a smooth posture.
Press after selecting “Ready” motion file, press “Copy” after selecting the
pose want to copy.
Select “Ready” motion file.
The method of opening the process file and Bluetooth connection is the same as the contents in 1 ~ 5 point of
'3-3. The programming of Waved ceremony'.

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3. Select the motion file “Bow” of bend ceremony, press “Paste” after pressing .
4. Press after confirming the ‘Ready’ pose has been copied.
Select “Bow” motion file. Press Copy button,
Copied ‘Ready’ pose
lost.

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5. Change the paly time of ‘Ready’ pose for the robot to run the next pose directly after
the ready posture.
Under the pose1(Ready), following the order “Paly time - 20 - Confirm” and select.
6. The robot will stretch the curved knee to operate bend ceremony, and in order to grasp
the center of gravity, it shall do the pose of both arms stretching forward.
As shown below, press to add pose. Select the lower body joints（LSM-micro ID01 ~
ID10) and its shoulders joints（LSM-micro ID11 ~ ID12) after pressing “P/S”.
※ As shown above, the count of cut should be 1 when the paly time is 20. Because the shortest time is 20msec to operate a cut.

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7. Adjust the lower body joints（LSM-micro ID01 ~ ID10) by hands, then use the shoulder
joints（LSM-micro ID11 ~ ID 12) to stretch both arms slightly.
As shown below, press “Confirm” after finishing the pose.
8. Change the paly time of pose2 to “600”, and press “Confirm”.
With the "pose2" selected, select the "Play time". Change paly time to "600",
press “Confirm”.
< Elevation view > < Side view >
※ Don’t use the brute force when adjusting the pose by hand.

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9. Change the count of cut to “30”, press “Confirm”.
10. Change the color of LED of LSM-micro. Select “All” after pressing “COLOR”.
Use red, green and blue three colors to custom color and then press “Confirm”.
※ Noted the number of color should be under '150' when there are more LED colors, otherwise, the LSM-micro will be over
heating because the number of color too high.
Choose the count of cut. Change the count of cut to "30",

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11. Next, expand the arms, press to add the pose.
As the following, select the joints（LSM-micro ID15 ~ ID16) of upper body of robot after
pressing “P/S”.
12. Expand the LSM-micro ID15 ~ ID16 of upper body of robot directly by hands, press
“Confirm”.

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13. Stretch robot’s arms to maintain the gravity in order to allow the robot to bend
smoothly.
Press to add pose. Select LSM-micro ID13 ~ ID16 after pressing “P/S”.
14. Press “Confirm” after stretching the robot’s arms by hands directly.

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15. Next program the pose that take back the arms when the robot bends.
Press to add pose. Select “All” after pressing “P/S”.
16. As following, press “Confirm” when adjusting by hands the robot operate bend motion.
※ The lower body needs to be adjusted first and then adjust the poses of upper body.

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17. Change the paly time and cut count of pose5 for the robot motion smoothly when bending.
Select pose5, press “Confirm” after changing the paly time to “1000”.
18. Press “Confirm” after changing the count of cut to “50”.
※ The motion will be more smoothly if the count of cut is large.

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19. Next, adjust the LED color of LSM-micro. Select “ALL” after press “COLOR”.
Use red, green and blue three colors to custom color, then press “Confirm”.
20. When the robot bending, stop temporarily for copy and paste the pose5.
Press , select “pose5”, press “Copy”.
After confirming the position of the copied pose5, press “Paste”.

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21. After confirming the copied pose6, press .
22. Now, programming straight up the upper body after bend ceremony.
Copy and paste the pose3 that is programmed earlier. Press , press “Copy” after
selecting “pose3”.

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23. After confirming the position of the copied pose3, press “Paste” twice.
After confirming the copied pose3, press .
24. After changing the paly time of pose to make robot straight up the upper body slowly,
Press the “Paste” twice.
※ Confirm to select the corresponding pose when change the pose information.

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25. Next, try to program how to back the ‘Ready’ pose after finishing the “Bend ceremony”.
Press , press “Copy” after selecting pose1(Ready).
26. After confirming the position of the copied ‘Ready’ pose, press “Paste”.
After confirming the copied ‘Ready’ pose, press .

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27. Finally, change the paly time and cut count of ‘Ready’ pose.
Under the pose9(Ready) was selected, press “Confirm” after changing the paly time to
“600”.
28. Press “Confirm” after changing the count of cut to “30”.
※ Continue to program the '3-6 Torque' on the next page.
※ Confirm to select the corresponding pose when change the pose information.

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3-6. Torque
The robot need the fast and strong force when it is attacking, kicking or straightening.
This chapter introduces what changes will be when adjust the torque value of pose. And the
three mentions to confirm the programming motion.
(Please continue program based on '3-5. The programming of Bend ceremony’.)
1. Change the torque value of the programed bend ceremony ‘Bow’motion file.
At first, select “pose1(Ready)”, press “Torque”, select “All”.
Press “Confirm” after changing the torque value to “70”.
Press the “All” button to select all LSM-micros.
If only change part of torque value of LSM-micro, select corresponding ID of LSM-micro.

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2. Change torque value to “70” of the pose2 ~ pose9.
※ Replace the name or information of pose must choose the corresponding pose.
Select “Torque” after selecting the
"pose" to change the torque value.
Press “All”. Press “Confirm” after changing
the torque value to "70".

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3. Confirm ‘Bow’ motion file of bend ceremony.
Press to download ‘Bow’ motion file, press , confirm the motion file.
Save the ‘Bow’ motion file of 'Bend ceremony'.
Learn more about Torque!
Try to program the pose of raising the right arm,
and compare the difference of the torque value is "50" and "90".
① Press to add motion file.
Select “New” to change the motion file name and press “Confirm”.

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② Program the first pose as ready posture. Select the programmed “Ready” motion file.
Press , select the “pose1(Ready)”, press “Copy”.
0
③ Copy the ‘Ready’, then select the “Test” motion file.
Press “Paste” after pressing .
④ After confirming the copied 'Ready' pose, press .

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⑤ In the state of selecting the pose1(Ready), press “Confirm” after changing the paly time to "200".
⑥ Press “Confirm” after changing count of cut to "1".
Then, press to add pose.
⑦ Change the P/S value of right arm (LSM-micro ID11) of LINE-Core m to "-230".
0

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⑧ As shown below, press after changing the name of pose2 to “Torq 50”
Select “pose1(Ready)” and “pose2(Torq 50)”, press “Copy”.
⑨ After confirming the position of the copied pose1(Ready) and pose2(Torq 50), press “Paste”.
Press after finishing copy-paste.
⑩ Select “pose4(Torq 50)”. Change the torque value of LSM-micro ID11 to "90", and then press “Confirm”.
0

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⑪ As shown below, change the name of pose4(Torq 50) to "Torq 90".
⑫ Select pose1(Ready), press , run pose1.
Use same method to operate the poses based on the order pose2(Torq 5) → pose3(Ready) → pose4(Torq 90), press
to run poses separately.
※ Compare the change of the pose2(Torq 50) and pose4(Torq 90) when the robot raise right arm.
0 0 0
0

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The three methods to confirm programmed motion:
① Press , confirm motion.
- Operate motion even if the motion file isn’t downloaded.
- In the state of the motion file isn’t downloaded and the large poses and complex
motion, it is a little difficult to confirm the motion file accurately by the speed of
communication.
- It is easy to press to repeatedly operate parts of pose.
TIP.
- The button is a tool for confirming whether the motion has been programed, it can download the motion file
and run it directly.
- Because the motion is confirmed after downloading, user can avoid to be affected by the speed of communication.
② Press to download motion file and confirm motion.
Downloading the motion file After finishing download, Press
to confirm motion.

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③ Press to download process file and confirm motion.
- The button is for downloading the process file, the flowchat and all motion files inside are downloaded one
time.
- Because the motion is confirmed after downloading, user can avoid to be affected by the speed of communication.
※ In order to accurately confirm the motion, it is recommended to use the above methods of ② and ③.

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3-7. The programming of ‘Standing up when fall down (Front side)’
This chapter introduces program move forward by arms and knees when robot fall down backwards.
The robot need fast and strong force to get up, so try to adjust the count of cut, paly
time and adjust the torque value to allow the robot exert force instantaneously.
1. Press and select “New” to program new motion ‘Move forward’.
Enter motion file name and press “Confirm”.
2. In order to the robot start as a smoothly pose, copy-paste the ready posture was programmed
in ‘3-2. The programming of Ready posture’.
Select motion file “Ready”, press , select the pose need to copy and press “Copy”.
The method of opening the process file and Bluetooth connection is the same as the contents in 1 ~ 5 point of

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3. Select “Getup F” motion file. Press , then press “Paste”.
4. Press after confirming the ‘Ready’ pose has been copied.
Select “Getup F” motion file. After pressing “Copy”,
the “Paste” will be activated.
lost.

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5. Try to change the paly time of the ready posture, the robot operate next pose directly
after the ready posture.
In the state of selecting the pose1(Ready), select based on the order “Paly time - 40
- Confirm”.
6. Change torque value of pose1(Ready).
Press “Torque” and select “All”, change the torque value to “70”, press “Confirm”.
※ As show above, change the paly time to 40, the count of cut should be changed to 2.

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7. Press for programming the motion move forward, put the robot lying down its stomach
on the wide
and flat ground after the robot operate the ready posture.
As shown below, press to add pose, press “P/S” and select “All”.
※ Please put the robot lying down its stomach on the wide and flat ground to
avoid dropping down from high place.

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8. As shown below, curl up the robot’s legs and stretch out arms. Press “Confirm” after
finishing the pose.
In the state of selecting pose2, select “Paly time”. Change the paly time to "400",
and press “Confirm”.
< Top view >
※ Don’t use the brute force to adjust robot by hands directly.
< Left view >

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11. Change the LED color of LSM-micro, press “Color”, select “All”.
Select the "Count of cut". Change the count of cut to "20",

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12. The following is the program of raising backwrds both arms and getting up by using arms
to support the ground.
As show below, press to add pose. After pressing “P/S”, select the upper body
Joints (LSM-micro ID11 ~ ID16) of LINE-Core m.
13. As shown below, lift backwards the robot's arms counterclockwise, press “OK”.
(Turn the shoulder down and raise it backwards.)
< Left view >
< Top view >

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14. Program the pose of the robot raising the waist and upper body by arms supporting the
ground.
Press to add pose, select “All” after press “P/S”.
15. As shown below, adjust the robot to raise waist and upper body, and arms support the
ground. Press “Confirm” after finishing the pose.
< Top view >
< Left view >

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17. Change the count of cut to 30, press “Confirm”.
Select the “Count of cut”. Change the count of cut to "30",
In the state of selecting pose4, select the “Paly time”. Change the paly time to "600",

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18. Program the pose that the robot bends its knee forwards and raises upper body by
countereaction.
Press to add pose. Press “P/S”, and select “All”.
19. As shown below, the robot bends its knee forwards, and raises upper body. Press “Confirm”
after finishing pose.
< Left view >
< Top view >

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22. In order to the robot gets up quickly stably and no tilted, so temporarily stop the
pose5.
Copy-paste the pose5, press . Press “Copy” after selecting pose5. Press “Paste”
after confirming the position to paste pose5.

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24. Press to add pose, press “P/S” and select “All”.
25. It is easier to sidled around body when the robot gets up. As shown below, the upper
body of the robot tilted to the left and get up, keep the gravity by the arms.
Press “Confirm” after finishing pose.
< Left view > < Right view >

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26. Change the paly time of pose7 to “200”, press “Confirm”.
27. In order to the robot stop temporarily in the state of the pose7, copy-paste the pose7.
Press , select pose7, press “Copy”. After confirming the position of the copied
pose7, press “Paste”.

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Change the paly time to "600",
Select the “pose8”. Select the “Paly time”.

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30. Then change the count of cut to “1”, press “Confirm”.
31. Straight up the upper body by using the robot lower body joints (LSM-micro ID01 ~ ID08).
Press to add pose, press “P/S” and select “LSM-micro ID01 ~ ID08”.

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32. As shown below, program the pose that the robot straights up the upper body through the
robot lower body joints (LSM-micro ID01 ~ ID08).
Press “Confirm” after finishing the pose.
33. Change the cut count of the pose9 to “30”, press “Confirm”.
Select the “Count of cut”. Change the count of cut to “30”,
< Left view > < Right view >

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35. When the robot operates the ready posture, copy-paste the pose1(Ready) for fully
supporting the body.
Press , select “pose1(Ready)”, press “Copy”. Press “Paste” after confirming
the position to paste the pose1.

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36. After confirming the copied pose10(Ready), press .
37. Change the paly time of pose10(Ready) to “600”, press “Confirm”.
Select the “pose10(Ready)”. Select the “Paly time”.

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39. Run the motion to move forward ‘Getup F’.
At first, select “pose1(Ready)”, then press , the robot operate the ready posture.
Select the "Count of cut". Change the count of cut to “4”,

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40. Press to download the motion file‘Getup F’, and press to confirm the motion.
Save the ‘Getup F’ motion file of 'Move forward'.

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3-8. The programming of ‘Standing up when fall down (Back side)’
Program the motion ‘Move backward’ by using the programmed motion ‘Move forward’.
1. Press , select “New” to program new motion ‘Move backward’.
2. In order to the robot start as a smoothly pose, copy-paste the ready posture was programmed
in ‘3-2. The programming of Ready posture’.
Select motion file “Ready”, press , select the pose need to copy and press “Copy”.
The method of opening the process file and Bluetooth connection is the same as the contents in 1-5 point of

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3. Finish coping the ready posture, select the copied “Getup B” motion file of move
backward.
Press , then press “Paste”.
4. Confirm the ‘Ready’ pose has been copied, press .
Select ‘Getup B’ motion file. After pressing “Copy”,
the “Paste” will be activated.
lost.

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5. Try to change the paly time of the ready posture, the robot operates the next pose
directly after finishing the ready posture.
In the state of selecting the pose1(Ready), select based on the order “Paly time - 40
- Confirm”.
6. Change the torque value of pose1(Ready).
Press “Torque”, select “All”, change the torque value to “70” and press “Confirm”.

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7. For programming the motion move backward, press , after the robot operate the ready
posture, put the robot lying down its stomach on the flat and wide ground.
As shown below, press to add pose, press “P/S” and select “All”.

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8. As shown below, close the toes to the ground, stretch out the arms, press “Confirm”
after finishing the pose.
< Right view >
< Top view >

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Select the "Count of cut". Change the count of cut to "20",

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12. Program the robot gets up by the arms to support the ground, and the palm towards to
the ground.
As shown below, press to add pose. Press “P/S”, select the upper body joints
(LSM-micro ID11 ~ ID16) of LINE-Core m.
13. Turn the robot’s arms down towards shoulder, and the palm towards the ground slightly.
Press “Confirm” after finishing the pose.
< Right view >
< Top view >

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14. Program the pose the robot gets up the body from a lying on its stomach.
Press to add pose, press “P/S”, and then select “All”.
15. As shown below, adjust the robot’s sole to touch the ground fully by hand, stretching
both arms toward to the head. Press “Confirm” after finishing the pose.
< Right view >
< Top view >

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17. Program the pose that supporting on the ground by arms, the robot gets up the upper
body by the countereaction.
Press to add pose, press “P/S” and then select “All”.
18. As shown below, adjust the robot to support on the ground by arms, and gets up the upper
body(waist) by hands. Press “Confirm” after finishing the pose.
< Right view >
< Top view >

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19. Confirm the changed P/S value of the pose5.
20. Program the pose that stretching out the bended arms to support the ground, and get up
the robot’s body.
Press to add pose, press “P/S” and then select “All”.

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21. Program the pose that the robot gets up body by using the arms to support on the ground,
the legs and toes gather towards front. Press “Confirm” after finishing pose.
22. Confirm the changed P/S value of the pose6.
< Right view >

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23. Press to add pose, press “P/S” and then select “All”.
24. In the state of the pose6, the robot gets up sideway will be safer and more stability.
As shown below, the robot turns the waist to right to get up body. Press “Confirm”
after finishing pose.
< Right view >
< Pose6 >

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25. Change the paly time of the pose7 to “300”, press “Confirm”.

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27. In order to stop temporarily in the state of the pose7, copy-paste the pose7.
Press , select “pose7”, press “Copy”.
Confirm the position to copy the pose7, press “Paste”.
28. Confirm the pose8 has been copied, press .

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29. Press to add pose, press “P/S” and then select “All”.
30. Get up the upper body by using the lower body.
As shown below, press “Confirm” after finishing the pose.
< Left view >
< Right view >
< 윗면에서 본

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31. In order to stop temporarily in the state of the pose9, copy-paste the pose9.
Press , select the “pose9”, press “Copy”.
32. Confirm the position to copy the pose9, press “Paste”.
Confirm the pose10 has been copied, press .

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33. Press to add pose.
Press “P/S” and then select the lower body joints(LSM-micro ID01 ~ 10) of LINE-Core m.
34. Adjust the joints of robot’s lower body, stretching out slightly the bended lower body,
after finishing the pose, press “Confirm”.
< Right view >
< Left view >

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35. In order to support fully the robot’s body when operate the ready posture finally,
copy-paste the pose1(Ready).
Press , select the pose1(Ready), press “Copy”. Confirm the position to paste,
press “Paste”.
36. Confirm the pose12(Ready) has been copied, press .

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37. Change the paly time of the pose12(Ready) to “600”, press “Confirm”.
Select the “pose12”. Select the “Paly time”.

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39. Run the ‘Getup B’ motion of move backward.
At first, select the pose1(Ready), press , the robot operate the ready posture.
40. Press to download the ‘Getup B’ motion file of move backward, press to confirm
motion.
Save the ‘Getup B’ motion file of “Move backward”.

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4. Motion programming Ⅱ
The next learn about the principle of robot walking, then program the move motion such as
move to the left, move to the right and turn left, turn right by using the principle of
symmetry.
4-1. The programming of ‘Move to the left’
1. Press , select “New” to program the new motion ‘Move to the left’.
Enter the motion file name, press “Confirm”.
2. In order to the robot starts the first pose as smoothly pose, copy-paste the ready posture
has been programmed in the ‘3-2. The programming of Ready posture’.
As shown below, select “Ready” motion file, press .
‘Left’ motion file has
been generated.
Select "Ready" motion file.

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3. Select the “pose1(Ready)” need to copy, press “Copy”.
After coping the ready posture, select the “Left” motion file of move to the left,
press .
4. Press “Paste”. After confirming the ‘Ready’ pose has been copied, then press .
Select "Left" motion file.
lost.

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5. In order to the robot walks as stable pose, lower the ready posture to lower the gravity.
As shown below, press “P/S”, select “All”.
6. Bend the arms and legs, lower the ready posture, finish the pose, press “Confirm”.
< Front view > < Side view >

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TIP.
The front view and side view of ready posture.
The front view and side view of lower ready posture for walking.
※ The 'P/S' value of each robot is likely to be different.

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7. In order to the robot operates the next pose directly after the ready posture, so change
the paly time of ready posture in the pose1(Ready), select in the order “Paly time - 20
– Confirm”.
8. Change the torque value of the pose1(Ready).
Press “Torque”, select “All”, change the torque value to “70”, press “Confirm”.

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Use red, green and blue to custom color and then press “Confirm”.
10. Use the pose that right leg to support the ground, move the robot’s body to the left
by the reaction.
Press to add pose. As shown below, press “P/S”, select the “LSM-micro ID09” of
right leg joint.

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11. Press “Confirm” after finishing the leg right to support the ground.
Select the “Paly time”.
< Front view > < Right view >

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14. In order to the robot moves to the left when it operates ready posture finally, copy-
paste the pose1(Ready).
Press , select the “pose1(Ready)”, press “Copy”. Confirm the position to paste
the pose1(Ready), press “Paste”.
Change the count of cut to “6”,
Select the "Count of cut".

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16. Run the ‘Left’ motion of move to the left.
Select the pose1(Ready), press , the robot operate the ready posture.
Press to download the ‘Left’ motion file, and press to confirm motion.
Save the ‘Left’ motion file of ‘Move to the left’.

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4-2. The programming of ‘Move to the right’
Try to program the motion ‘Move to the right’ based on the programmed ‘Move to the left’
by using the principle of symmetry.
Corresponding LSM-micro ID when using the principle of symmetry
LSM-micro ID01 ↔ LSM-micro ID02 LSM-micro ID11 ↔ LSM-micro ID12
Tip. Corresponding LSM-micro ID when using the principle of symmetry.
ID18
ID17
ID11
ID13
ID15 ID09 ID10
ID12
ID16
ID07
ID05
ID03
ID01
ID08
ID06
ID04
ID14
ID02

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1. Copy the ‘Left’ motion file has been programmed in ‘4-1. The programming of Move to
the left’.
Press , select “Load”, press “MP folder”.
2. Select the “Left. MTN” motion file. As shown below, press the “Left” motion file has
been generated two seconds to change the motion file name.
※ The MP folder is that was created in the '3-1. The connection of Bluetooth and create a new folder'.

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3. Symmetrically copy the pose2 that right leg against the ground, program the pose that
the left leg.
Press , select the below “Symmetry, Setting”.
The corresponding LSM-micro ID when the pose2 is symmetry
LSM-micro ID09 ↔ LSM-micro ID10
TIP. The corresponding LSM-micro ID when the pose2 is symmetry.
ID09 ID10

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4. Input the symmetrical LSM-micro ID on the window of ‘Symmetry, Setting’.
As shown below, press “Add”, select the “LSM-micro(ID09)” of the right leg joint and
the symmetrical “LSM-micro ID10”.
Input the symmetrical LSM-micro ID09 and LSM-micro ID10, press “Confirm”.
Press “Add”. The input box pops up and the
symmetrical ID can be input.
The ID will be displayed when
press the ID input box.
Select the ID that need to be
symmetry.
Input the symmetrical ID, and then
LSM-micro ID input box

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5. Select the “pose2” that should be copied symmetrically, press “Copy”.
After confirming the position to paste, press “Symmetry, Paste”at bottom.
6. Delete the pose2 before symmetry. Press “Back”, select the pose should be deleted and
then press “Delete”.
Press , after finishing symmetrically copy-paste pose.
The pose2 before
symmetry
Please press “Symmetry, Paste” to paste when symmetrically copying the pose.
After symmetrically copy, press “Paste” to paste the pose2 before symmetry.
Paste under the
pose1(Ready).
Symmetrical copied pose2.
The pose2 before symmetry.
After pressing ‘Copy’,
the ‘Symmetry, Paste’ will be activated.

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7. When the pose2 is selected, the change of its P/S value can be confirmed.
8. Run the ‘Right’ motion file.
Select the “pose1(Ready)”, and then press , the robot will operate the ready posture.
Press to download the motion file ‘Right’, press to confirm the motion.
The P/S value of ‘Move to the left’ pose2 before symmetry.
Save the ‘Right’ motion file of 'Move to the right'.

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Copy → Paste : Copy-paste the selected pose.
Sym, Set → Copy → Sym, Paste : The selected pose2 will symmetrically copy and paste.
Select the “pose2”,
and then press “Copy”.
Press “Paste”. The P/S value of the copied
pose2(before symmetry).
Press “Sym, Set”. Specifies the ID which you want to
apply symmetry.
Select the "pose2",
and then press “Copy”.
Press “Sym, Paste”. Finish to symmetrically copy the
P/S value of the pose2

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The method to release the symmetry application of LSM-micro:
After selecting the ID number that you want to cancel symmetry, press “Delete”.
TIP.

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4-3. The programming of ‘Turn left’
1. Press and select “New” to program new motion ‘Turn left’.
2. In order to the robot starts the first pose smoothly, copy-paste the ready posture has
been programmed in the ‘4-1. The programming of Move to the left’.
Select the motion file “Left”, and then press .
※ In order to the robot walks smoothly, copy-paste the ready posture has been programmed in the ‘4-1. The programming
of Move to the left’.

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3. Select the “pose1(Ready)” should be copied, press “Copy”.
Finish copying the ready posture, and then select the motion file “Turn L” of turn
Left, press .
4. Press “Paste” to paste the ready posture, and then press .
Select "Turn L" motion file.
lost.

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5. Program the pose that turn left with the waist and feet.
As shown below, press to add the pose. Press “P/S”, select the “LSM-micro ID17”
of waist and “LSM-micro ID01, ID02” of feet.
6. Program the pose that the robot’s upper body face to left by using waist, jumping with
soles.
As shown below, finish the pose, and then press “Confirm”.
※ Hold the robot's waist in your hand, make robot’ sole do the pose as shown above.

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Change the count of cut to "6",
Select the “Count of cut”.
In the state of selecting pose2, select the “Paly time”.

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9. In order to the robot turns left, copy-paste the pose1(Ready) when the robot operates
the ready posture.
Press , select the “pose1(Ready)”, press “Copy”. After confirming the position
to copy, and press “Paste”.
10. Confirm the pose3 has been copied, press .

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11. Run the motion file‘Turn L’.
At first, select the “pose1(Ready)”, then press , the robot operate ready posture.
Press to download the ‘Turn L’ motion file, and then press to confirm the
motion.
Save the ‘Turn L’ motion file of 'Turn left'.

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4-4. The programming of ‘Turn right’
Try to program the motion ‘Turn right’ by using symmetry principle based on the ‘Turn
left’.
1. Copy the motion file ‘Turn L’ was programmed in ‘4-3. The programming of Turn left’.
2. Select “Turn L. MTN” motion file. As shown below, press the motion file “Turn L” has
been generated two seconds, change the motion file name.

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3. Copy symmetrically the pose2 that the waist turns to left.
Press , and then select the “Symmetry, Setting”.
The corresponding LSM-micro ID when the pose2
is symmetry
TIP. The corresponding LSM-micro ID when the pose2 is symmetry.
ID17
LSM-micro ID17 ↔ LSM-micro ID17 after using symmetry principle as shown below:
※ The waist(LSM-micro ID17) and head(LSM-micro ID18) can’t be symmetry,
and the LSM-micro ID17-LSM-micro ID17, LSM-micro ID18-LSM-micro ID18 can be symmetry.
< Before symmetry > < After symmetry >

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4. As shown below, press “Add”, input the LSM-micro ID17(robot’s waist) in the LSM-micro
ID input box, and then press “Confirm”.
5. Select the “pose2” should be copied symmetrically, press “Copy”.
Confirm the position to copy the pose2, press the “Symmetry, Paste” below.
Paste under the
pose1(Ready). Symmetrical copied pose2.
The pose2 before symmetry.
After symmetrically copy, press “Paste” to paste the pose2 before symmetry.

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6. Delete the pose2 before symmetry. After pressing “Back”, select the “pose2” should
be deleted, press “Delete”.
Finish copy-paste the pose2, press .
7. When the pose2 is selected, the change of its P/S value can be confirmed.
The pose2 before
symmetry
The P/S value of ‘Turn left’ pose2 before symmetry.

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8. Run the motion ‘Turn R’ of turn right.
At first, select the“pose1(Ready)”, press , the robot will operate the ready posture.
Press to download the motion file ‘Turn R’, and press to confirm the motion.
Save the ‘Turn R’ motion file of 'Turn right'.

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4-5. The programming of ‘Walk’
The motion files we learned earlier are divided into the “start pose (ready posture) →
each motion pose → end pose (ready posture)” in one motion file.
Such as the forward and backward, in order to the walk pose is more natural, and different
from other motion, we will program the start walking motion file, walk motion file, end
walking file separately, then manage the start pose, walk pose and end pose separately.
In this chapter, we will learn about the programming process of forward and backward together,
and program the walk motion file and end walking file separately.
(The applicable process of the walk motion and end walking motion refers to '5-3. Create a new flowchart' )
4-5-1. The programming of walk forward
The programming process of 'Walk forward'
Posture 1 (1pose. Raise the right foot)
- Raise the right foot.
At this point, lift toes up a little.
Posture 2 (2pose. Right foot moves forward)
- Keep the foot moving forward at the horizontal.
- Note that don’t let the foot touch the ground.
Posture 3 (3pose. Left foot move backward)
- Use the other foot (left foot) to land the right foot, thus finishing
the pose of forward step.
※ When the robot goes forwards and backwards, in order to keep the balance of its gravity, its body needs to lean
or the part of its foot should land on the ground.
Please refer to the programming of forward and the programming of backward later.

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1. Program the new motion ‘Forward’, press , select “New”.
Input the motion file name, press “Confirm”.
2. In order to make the robot starts forward motion in the state of steady, then make it do
the forward motion with the lower body bended.
Copy-paste the lowered ready posture has been programmed in ‘4-1. The programming of
Move to the left’. As shown below, select “Left” motion file, and then press .
※ In order to make the robot walk with a steady pose, copy-paste the ready posture (Lower the gravity of ready posture)
that has been programmed in ‘4-1. The programming of Move to the left’.

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3. Select the “pose1(Ready)” that should be copied, press “Copy”.
After copying the ready posture, select the motion file “F Loop”, press .
4. Press “Paste”, after pasting the ready posture, press .
Select "F Loop" motion file.
lost.

142
5. Program the pose of lifting the right leg.
Press to add pose. Press “P/S”, and then select “LSM-micro ID03, ID05, ID07”
of the right lower body joint.
6. Lift the right leg slightly, raise the toes a little.
As shown below, finish the pose, press “Confirm”.
(Because the gravity causes the body to lean, it looks likely keeping the body balance by the left leg and right heel.)
Change the name of pose2 to ‘1pose’.
< The pose of right leg >
< The pose of robot as shown as the picture >

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7. Change the torque value of left leg.
Press “Torque”, select “LSM-micro ID04, ID06, ID08” of left leg joints, change the
torque value to “90”, press “Confirm”.

144
10. Program the pose that the right leg moves forward.
Press to add the pose. Press “P/S”, and then select “LSM-micro ID03, ID05,
ID07” of the right leg joints.
Change the name of pose3 to ‘2pose’.

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11. After the right leg moves forward, and move down a little. As shown below, press
“Confirm”.
(Because the gravity causes the body to lean, it looks likely keeping the body balance by the left leg and right heel.)
< The pose of right leg>
< The pose of robot as shown as the picture >

146
13. Program the pose that the right foot landing by using the left leg.
Press to add the pose. Press “P/S”, select the “LSM-micro ID04, ID06, ID08”
of the left leg joints.
14. The left leg moves backward, and the right foot lands fully, press “Confirm”.
The pose that the right foot walk forward is finished.
Change the name of pose4 to '3pose'.

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148
17. In order to the robot not fall in when it lifts right leg, move the gravity to the left.
Select the “pose2(1pose)”. Press “P/S”, select the “LSM-micro ID01, ID02” of soles
18. As shown below, both soles lean slightly.
Press “Confirm” after the pose was finished.

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149
19. Select the “pose3(2pose)”.
Press “Difference” of the right sole (LSM-micro ID01), it is changed to ‘0’ after
pressing about 2second. The same way to press “Difference” of the left soles (LSM-
micro ID02), it is changed to ‘0’ after pressing about 2second.
20. After the pose2(1pose) ~ pose4(3poae) of right foot slightly stepping out is finished,
symmetrically copy the pose2 ~ pose4, and then make the pose of the left foot stepping
out.
Press and then select the “Symmetry, Setting” at bottom.
As shown above, if the differential value of the pose3 changes to ‘0’,
the both soles of the pose3(LSM-micro ID01, ID02) will be keep same motion as the pose2(LSM-micro ID01, ID02).
Press for about 2 seconds.

150
f
21. Press “Add”, as shown below, select the LSM-micro of right leg joint, then select the
left leg joint of LSM-micro that symmetrical with right leg.
After finishing the symmetry of LSM-micro ID01 ~ ID08, press “Confirm”.
The corresponding LSM-micro ID when
symmetrically copy the pose2 ~ pose4.
TIP. The corresponding LSM-micro ID when symmetrically copy the pose2 ~ pose4.
ID07
ID05
ID08
ID06
ID03 ID04
ID01 ID02
Press “Add”. The input box pops up and the
symmetrical ID can be input.
The ID will be displayed when
press the ID input box.

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22. Select the “pose2(1pose) ~ pose4(3pose)” that should be copied symmetrically, press
“Copy”.
Confirm the position to paste the pose2 ~ pose4, press “Symmetry, Paste”. Press ,
after finishing symmetrically copy-paste.
Paste under the
pose4. Symmetrical copied pose2.
Press “Add”. Input the symmetrical ID, and then

152
23. Change the name of the pose5 ~ pose7.
Select the “pose5”, change the name of the pose5 after symmetrically copied the pose2
to “m1pose”.
Then change the name of the pose6 and pose7.
24. Change the paly time of the pose7 to “60”, and press “Confirm”.
※ Be sure to select the corresponding pose when you changing the pose name and information.

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25. In order to make the robot moves forward naturally, delete the ready posture
‘pose1(Ready)’ when the motion move forward repeatedly.
Press , select the “pose1(Ready)” should be deleted, press “Delete”.
26. Run repeatedly the forward motion ‘F Loop’.
After pressing , select the “first pose” and “last pose” that need to be repeatedly.
Press button. Select the first pose to run repeatedly. Select the last pose to run repeatedly.
The color of the
button changes.
Repeated
section

154
27. Press to run repeatedly the motion of selected pose.
28. Press , the motion halt, press , the repeatedly run was canceled.
※ If the robot tilts backwards when running repeatedly the forward motion,
Using the LSM-micro ID07 and ID08 of the pose1 ~ pose3, to make the robot’s upper body leans forward slightly.
Then delete the pose4 ~ pose6, re-program from the 22 point.
※ If the forward motion should be corrected, please refer to the motion 'M SW Floop' of the basic process file(Example-BASIC).
Save the ‘F Loop’ motion file of 'Forward'.

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4-5-2. The programming of walk forward and halt
1. Copy the motion file ‘F Loop’ of the ‘4-5-1. The programming of walk forward’.
2. Select the “F Loop. MTN” motion file. As shown below, press the “F Loop” motion file
has been generated two seconds to change the motion file name.

156
3. The forward motion moves forward based on the order: right foot → left foot. That is
the last pose of forward motion in the state of the left foot walking forward, forward
and halt in the state of the right foot move to the left foot.
Press , leave alone the pose1 to lift the right foot, select the “pose2 ~ pose6”,
press “Delete”, press after the pose is deleted.
4. The right foot moves to the left foot when the robot operates the ready posture finally.
In order to end the forward motion as a steady pose, the robot should operate the lowered
gravity ready posture.
Select motion file “Turn R”. Press , select the “pose1(Ready)”, and then press
“Copy”.
The motion file ‘F End’ is generated. Don’t select the pose1 of lifting
right leg.
Select “Turn R” motion file.

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5. The ready posture has been copied, select the motion file ‘F End’ of forward and halt.
Press , press “Paste” to paste the ready posture.
Press to download motion file ‘F End’, press to confirm the motion.
The copied 'Ready' pose
Save the ‘F End’ motion file of 'Forward and halt'.
(The process that suits both motions 'Forward' and 'Forward and halt' refer to the '5-3. Create a new flowchart'.)
Select “F End” motion file.

158
4-5-3. The programming of walk backward
As shown below, change the pose order of forward motion, then operate next backward motion.
Forward order Backward order
1. 1pose
Raise the right foot.
1. 2pose
Right foot moves forward.
2. 2pose
Right foot moves forward.
2. 1pose
Raise the right foot.
3. 3pose
Left foot moves backward.
3. m3pose
Right foot moves backward.
4. m1pose
Raise the left foot
4. m2pose
Left foot moves forward.
5. m2pose
Left foot moves forward.
5. m1pose
Raise the left foot
6. m3pose
Right foot moves backward.
6. 3pose
Left foot moves backward.
The programming process of 'Walk backward'
Operate the backward motion,
setting the same pose order as
the right.

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1. Copy the motion file ‘F Loop’ has been programed in ‘4-5-1. The programming of walk
forward’.
2. Select the “F Loop. MTN” motion file. As shown below, press the “F Loop” motion file

160
3. Press , select the “pose2(2pose)”, press “Copy”.
Confirm the position to paste the pose7, press “Paste”.
4. Confirm the pose7(2pose) has been copied, press “Back”.
Select the “pose1(1pose)”, and then press “Copy”. Confirm the position to paste the
Paste under the
pose6.

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5. Confirm the pose8(1pose) has been copied, press “Back”.
Select the “pose6(m3pose)”, and then press “Copy”. Confirm the position to paste the
6. Confirm the pose9(m3pose) has been copied, press “Back”.

162
Select the “pose3(3pose)”, and then press “Copy”. Confirm the position to paste the

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9. Confirm the pose12(3pose) has been copied, as shown below, delete the forward motion.
Select the pose1(1pose) ~ pose6(m3pose), press “Delete”. Press after the backward
motion finished.
10. Change the paly time of the pose1(2pose) to “60”, and press “Confirm”.
Select the "pose1(2pose)",
press “Paly time”.
Forward motion
Backward motion
lost.

164
12. Change the paly time of the pose2(1pose) to “40”, and press “Confirm”.

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13. Change the paly time of the pose3(m3pose) to “80”, and press “Confirm”.
Select the "pose3(m3pose)",

166
Select the "pose4(m2pose)",

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18. Change the paly time of the pose6(3pose) finally to “60”, and press “Confirm”.

168
19. Run repeatedly the backward motion ‘B Loop’.
After pressing , select the “first pose” and “last pose” that need to be repeated.
20. Press to run repeatedly the motion of selected pose.
Press button. Select the first pose to run repeatedly. Select the last pose to run repeatedly.
The color of the
button changes.
Repeated
section

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21. Press , the motion halt, press , the repeatedly run was canceled.
Save the ‘B Loop’ motion file of 'Backward'.
※ If the backward motion should be corrected,
please refer to the motion 'M SW Bloop' of the basic process file(Example-BASIC).

170
4-5-4. The programming of walk backward and halt
1. Copy the motion file ‘B Loop’ of the ‘4-5-3. The programming of walk backward’.
2. Select the “B Loop. MTN” motion file. As shown below, press the ‘B Loop’ motion file

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3. The backward motion moves backward based on the order: right foot → left foot. That is
the last pose of backward motion in the state of the left foot walking backward, backward
and halt in the state of the right foot move to the left foot.
Press , in addition to the pose1 that forward to the right foot, after selecting
the “pose2 ~ pose6”, press “Delete”, Press after finishing deleting the pose.
4. The right foot moves to the left foot when the robot operates the ready posture finally.
In order to end the backward motion as a steady pose, the robot should operate the lowered
gravity ready posture.
Select motion file “F End”. Press , select the “pose2(Ready)”, and then press
“Copy”.
Select “F End” motion file.
The motion file ‘B End’ is generated. Don’t select the pose1 that
the right leg moves forward.

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5. After the ready posture has been copied, select the motion file “B End” of backward
and halt.
Press , press “Paste” to paste the ready posture.
Press to download motion file ‘B End’, press to confirm the motion.
The copied 'Ready' pose
Save the ‘B End’ motion file of 'Backward and halt'.
(The process that suits both motions 'Backward' and 'Backward and halt' refer to the '5-3. Create a new flowchart'.)
Select “B End” motion file.

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5. Flowchart
5-1. What is a flowchart?
Everything is in the order, whether when in the school, or when cleaning up. Same as the
program, the order for the minimize error and easy handling thing. While comparing the
processes of handling things, for easy understanding, represented by some simple signs and
arrows, it is called flowchart.
Example: The flowchart of robot cleaner
Mopping floor
Start
Turn around
Dusty
End sweep
No
Yes
Mopping floor
Start
Turn around
Dusty
No
Yes
When running once When running repeatedly

174
5-2. The composition of flowchart tool
Download the process file
The main programming interface
Bluetooth communication connection
New-built, open, save process file
Module（instuction）list
※ The motion name as shown above is the motion file that has been programmed before.
The motion name
Flowchart in
programming

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175
5-3. Create a new flowchart
In order to make the 13 programmed motions can be operated by remote control, let’s make
flowchart.
Design the remote control and motion by using the figure as shown below, run the motion
flowchart when pressing the remote control every time by using ‘LABEL’ and ‘GO TO’.
Remote
control key
Motion
Remote
control key
Motion
Ready (Ready posture) Right (Move to the right)
Hi(2) (Waved ceremony) Turn L (Turn left)
Bow (Bend ceremony) Turn R (Turn right)
Getup F (Move forward) F Loop (Walk forward and halt)
Getup B (Move backward) B Loop (Walk backward and halt)
Left (Move to the left)
Flowchart preview
Run ‘Ready' motion Run ‘Hi(2)' motion Run ‘Bow' motion
Program start
Confirm whether
pressing the remote key
Press ? Press ? Press ?
NO
YES YES YES
NO NO

176
1. Press at bottom in the state of selecting the flowchart.
Drag into the main interface, and there will be a ‘Label 1’ on the main interface.
2. The ‘Label 1’ on the main interface is the start of the program.
Press “Label 1”, then press “START SET”. Finish the start setting, and then press .
Select flowchart.
Generate a ‘S’ that represents
the start of the program.
<< Press , run the motion ‘Ready’ of ready posture. >>

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3. Add order of ‘Confirm whether pressing the remote key’.
Press , and drag the into the main interface.
4. Add the judgment order of remote key.
Press , drag into the main interface.
To judge which remote
key was pressed.
Press after finishing.
Confirm whether pressing
the remote key.

178
5. Press the “REMOCON Mod:0 ON” that has been generated in the main interface, and press
“INFO” below.
The window of ‘Remocon set’ pops up.
6. Select , press “Confirm”.
After the remote key has been selected, press .
※ and keep open state.
The order is generated
when pressing .

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7. When you press the , specify the motion to run.
8. Press the “Motion” that has been generated in the main interface, press the “INFO”
at bottom.
Select the motion file when the ‘Motion select’ window pops up.
Specify the motion to run.
List of motion files

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9. Specify the motion file of “Ready”, press “Confirm”.
Finish specifying the motion, press .
10. Run the motion of ‘Ready’ when pressing each time.
Run ‘Ready’ motion when
pressing .

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11. Press the “Goto” that has been generated in the main interface, press the “INFO”
below.
When the window of‘Goto label select’pops up, select the“Label 1”, press “Confirm”.
12. The ‘Start’ that needs running repeatedly has been specified, press .
Return to ‘Label 1’ of
the program start.

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1. Press to run the motion ‘Hi(2)’ of the waving and greeting.
2. Press the “REMOCON Mod:0 ON” that has been generated in the main interface, and press
“INFO” below.
The window of ‘Remocon set’ pops up.
<< Press , run the motion ‘Hi(2)’ of waving ceremony. >>

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3. Select , press “Confirm”.
After the remote key has been selected, press .
4. When you press the , specify the motion to run.
※ and keep open state.
The order is generated
when pressing .

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5. Press the “Motion” that has been generated in the main interface, press the “INFO”
below.
Select the motion file when the ‘Motion select’ window pops up.
6. Specify the motion file of “Hi(2)”, press “Confirm”.
Finish specifying the motion, press .
Run ‘Hi(2)’ motion when
pressing .

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