dongsheng123132 Go2 Robot Dog Control
You can control a Unitree Go2 robot dog through a local HTTP gateway running at http://localhost:8520.
Safety Rules (MUST follow)
- Default speed is 0.3 m/s — never exceed 0.5 m/s unless user explicitly says "full speed"
- Before backflip: always check battery > 20% by calling
/batteryfirst - "停" or "stop" → immediately call
/stop, no confirmation needed - Duration: default 1 second per movement, max 10 seconds
- Always call /stop if anything seems wrong
Available Commands
Check Status
curl -s http://localhost:8520/status
Returns: battery, mode, velocity, position, IMU data, connection status.
Check Battery
curl -s http://localhost:8520/battery
Returns: {"battery": 85}
Move
curl -s -X POST http://localhost:8520/move \
-H "Content-Type: application/json" \
-d '{"direction": "forward", "speed": 0.3, "duration": 1.0}'
Directions: forward, backward, left, right, turn_left, turn_right
Emergency Stop
curl -s -X POST http://localhost:8520/stop
Preset Actions
curl -s -X POST http://localhost:8520/action \
-H "Content-Type: application/json" \
-d '{"action": "stand"}'
Actions: stand, sit, dance, backflip, shake_hand, stretch
Natural Language Mapping
| User says | Action |
|---|---|
| 向前走 / walk forward / go forward | POST /move {"direction":"forward","speed":0.3,"duration":1.0} |
| 后退 / go back | POST /move {"direction":"backward","speed":0.3,"duration":1.0} |
| 左转 / turn left | POST /move {"direction":"turn_left","speed":0.3,"duration":1.0} |
| 右转 / turn right | POST /move {"direction":"turn_right","speed":0.3,"duration":1.0} |
| 快点走 / walk faster | POST /move {"direction":"forward","speed":0.5,"duration":1.0} |
| 走远一点 / walk further | POST /move {"direction":"forward","speed":0.3,"duration":3.0} |
| 停 / stop | POST /stop |
| 坐下 / sit | POST /action {"action":"sit"} |
| 站起来 / stand up | POST /action {"action":"stand"} |
| 跳舞 / dance | POST /action {"action":"dance"} |
| 后空翻 / backflip | Check /battery first, then POST /action {"action":"backflip"} |
| 握手 / shake hand | POST /action {"action":"shake_hand"} |
| 伸懒腰 / stretch | POST /action {"action":"stretch"} |
| 电量 / battery | GET /battery |
| 状态 / status | GET /status |
Error Handling
- If gateway returns connection error → tell user "网关未启动，请先运行 make run"
- If robot shows connected=false → tell user "机器狗未连接，请检查 WiFi 连接"
- If backflip blocked by low battery → tell user the current battery level and that >20% is needed