Physical Deployment

Physical Deployment#

This document outlines the procedures for connecting, building, and deploying software on the physical Booster K1 humanoid robot.

Reference Documentation#

For complete technical specifications, refer to the official documentation:

SSH Connection#

You can connect via wired Ethernet (recommended for initial setup) or Wi-Fi.

Wired Connection:

  1. Connect an Ethernet cable from your PC to the robot’s back panel.

  2. Configure your PC’s static IP:

    • IP Address: 192.168.10.10

    • Netmask: 255.255.255.0

    • Gateway: 192.168.10.1

  3. Access the robot via terminal:

ssh booster@192.168.10.102
# Initial password: 123456

Wireless Connection:

Once connected via Ethernet, use nmtui to connect the robot to your local Wi-Fi network, then identify the new IP:

ifconfig  # Note the wlan0 IP (e.g., 192.168.0.12)
ssh booster@<your_robot_wifi_ip>

Build and Deployment#

Follow these steps to install the SDK and deploy the 3v3 Demo environment.

1. SDK Installation:

K1 also includes an onboard app that can be used to update the SDK directly on the robot.

cd ~/Workspace
git clone https://gitee.com/booster_robotics/sdk_release.git
cd sdk_release
sudo ./install.sh

2. Compiling the 3v3 Demo:

Ensure the Booster_K1_3v3_Demo.zip is uploaded to ~/Workspace/ and unzipped.

cd ~/Workspace/Booster_K1_3v3_Demo/scripts/
chmod +x *
# Clean previous builds and compile
sudo rm -rf ../build ../install
./build.sh

3. Time Synchronization & Launch:

Crucial for camera and sensor fusion functionality.

# Synchronize camera time
tar -zxvf chrony_patch.tar.gz
cd chrony_patch && sudo ./update
# Restart the robot after update

# Execute the launch script
cd ~/Workspace/Booster_K1_3v3_Demo/
./scripts/start.sh

General Handling & Safety#

Proper physical handling is required to prevent hardware damage or injury.

Video Tutorials:

Operational Modes:

  • DAMP Mode: Safety mode (motors exert no force). Used for storage or emergency stops.

  • PREP Mode: Standing posture. Robot holds position but does not balance. Must enter this mode before walking.

  • WALK Mode: Active balancing and locomotion enabled.

Safety Rules:

  • Never lift the robot while in WALK Mode.

  • Surface Selection: Perform dances and complex movements on rubber, concrete, or tile. Avoid carpets to prevent tripping.

  • Emergency Stop: Use LT + Back on the joystick to enter DAMP mode immediately.

  • Stability: K1 must first enter PREP mode and be placed in a stable standing position on the ground before switching to WALK mode.

  • Obstacles: Clear all obstacles on the ground and avoid human proximity while operating K1.

  • Handling: DO NOT touch any parts of K1 while under WALK mode, except for the handle.

Powering on:

  1. Place K1 on its rest.

  2. Install the battery pack. Slide the pack into the battery socket, with lights facing outwards.

  3. Place K1’s hands and legs in a natural posture.

  4. Press Power button for about 3s (release after light turns on; pressing more than 6s powers off).

  5. Wait about one minute for the prompt tone. The robot can then be remotely controlled.

    Note

    The initialization of IMU requires that K1 remains stationary during the booting process.

  6. Press LT + START on the controller to enter PREP mode, then place K1 on the ground in a standing position.

  7. Press RT + A to enter WALK mode. NOTE: DO NOT lift K1 while in WALK mode.

Shutting down:

  1. Enter PREP Mode (LT + Start) and place the robot flat on the ground.

  2. Enter DAMP Mode (LT + Back).

  3. Press and hold the Power button to shut down K1.

  4. Wait at least 6 seconds after power-off before restarting.