Norsat GQR0440 Ground Guardian - Quadruped Robot User Manual

Disclaimer

To avoid illegal behavior, potential harm, and loss, it is essential to adhere to the following regulations:

1. Please read this article carefully before using the product, understand how to use it correctly, and be aware of your legitimate rights, responsibilities, and safety instructions. Failure to do so may result in property damage, safety accidents, and personal safety hazards. By using this product, you are deemed to have carefully read, understood, recognized, and accepted all the terms and contents herein. Users are responsible for their actions and all consequences thereof. Users agree to use this product only for legitimate purposes and comply with these terms and any relevant policies or guidelines established by Norsat.
2. To the fullest extent permitted by law, Norsat provides no express or implied commercial or technical warranties not covered herein. Norsat does not guarantee that the products/services provided are completely defect-free, fully compliant with customer requirements, or that there will be no problems or interruptions in their use. Norsat will not be able to completely repair all defects. In any case, Norsat shall not be liable for direct or indirect economic losses of the customer due to this service manual. The maximum compensation for losses caused by Norsat's product liability shall not exceed the amount paid by the customer for the product/service.
3. The laws of some countries may prohibit the exemption of guarantee clauses, so your relevant rights may vary by country.
4. Subject to legal compliance, Norsat reserves the right of final interpretation of the above terms. Norsat may update, amend, or terminate these terms without prior notice.
5. Norsat Robotics does not provide any explicit or implied commercial and technical guarantees not covered in this article.
6. Norsat Robotics does not guarantee that the products/services provided are completely free from defects and fully meet customer requirements. It also does not guarantee that Norsat Robotics can completely repair these defects.
7. In any case, Norsat Robotics shall not bear legal liability for direct or indirect economic losses to customers due to this service specification. The maximum compensation amount of Norsat Robotics for losses to customers caused by its own product liability shall not exceed the amount paid by the customers for the products/services.
8. The purchased parts are not within the scope of services included in this service specification.
9. No on-site services are provided for terminal products and accessories. The maintenance service provided by Norsat Robotics for more than one year is an optional service. Customers can choose to purchase related services and decide when to terminate them. If customers purchase related services, they consent to Norsat Robotics accessing, collecting, and processing information related to faults, detection, positioning, and debugging when providing services. Norsat Robotics will access and process relevant information in accordance with customer requests and consent, and the information will only be used for maintenance services. As users are the controllers of such information, Norsat Robotics cannot confirm whether it contains customer confidential information or personal data. Customers shall guarantee that they will obtain or retain all necessary consents, licenses, and authorizations. This consent allows Norsat Robotics to provide this service without violating applicable legal requirements, the customer's privacy policy, or the agreement between the customer and the user. Norsat will take reasonable measures to ensure the security of such user information, but Norsat Robotics is not responsible for direct or indirect responsibility for the act of obtaining and processing such information during service provision.

Safety Instructions

1. The GQR0440 is a four-legged robot designed for industrial applications. It features all-weather operation, strong load and expansion space, multi-dimensional perception, full-scene coverage, powerful computing power, and precise insight. It provides a more efficient and intelligent solution.
2. This product is not a toy and is not intended for use by persons under 18 years of age. Keep out of reach of children and be careful when operating in the presence of children.
3. Users are obliged to be aware of and comply with the laws and regulations in their area.
4. This chapter is an introductory guide for new users to manipulate the robot. New users can quickly master how to use the Remote Control to achieve excellent movement performance by reading this section. This chapter is also a reference for experienced users. Experienced users can reread this chapter to grasp the essentials of robot operation and infer from examples to understand recommended and not-recommended movements.
5. When users run self-developed programs in developer mode, remote control commands remain valid when the high-level (application layer) is developed. If high-level API commands and remote control commands are sent to the robot simultaneously, both commands will be executed by the robot, potentially causing instability. Users must judge whether to use remote control based on the robot's running state. Remote control commands may fail during low-level development.
6. When in use, please control the robot within sight, maintain a safe distance, and do not touch the robot with your hands after it is powered on.
7. After the GQR0440 is turned on, it defaults to AI control mode and automatically stands up. Please maintain a safe distance from the quadruped robot.
8. When using complex remote control commands, such as forward jumping, ensure there are no obstacles (especially people) within a 2-meter semicircle in front of the robot. Yushu Technology will not be responsible for any resulting losses and consequences if casualties or property damage occur due to non-standard operations.
9. Switching standard instructions: When switching control modes, ensure the robot dog is in a prone or damping mode, and no people are within a 1-meter diameter range. After successfully switching control modes, the robot dog will automatically stand up. Norsat Robotics will not be responsible for any resulting losses and consequences if casualties or property damage occur due to non-standard operations.
10. Safety reminder for restoring standing position: Restoring the standing position requires space for the robot dog to flip over. Ensure no people or objects are within a 2-meter diameter circle around the robot dog to avoid unnecessary casualties and property damage. Norsat Robotics will not be responsible for any resulting losses and consequences.
11. When the battery power is low (one block remaining), stop and turn off the robot dog in time, and remove the battery to charge it to avoid damage from falling when the battery is low.

1. Product Overview

1.1 Introduction

The GQR0440 industrial-grade quadruped robot offers exceptional mobility, with a maximum running speed exceeding 6m/s. Its main body structure is constructed from high-strength, lightweight materials like aerospace aluminum alloy and carbon fiber. The entire unit weighs 60kg and has a maximum thrust-to-weight ratio of 6.25. It can jump distances from 0.5m to 1.2m and adapt to various complex terrains. All connecting material structures are made of 6061-T6 aluminum alloy, with some key components utilizing 7075-T6, capable of withstanding impacts from falls. Equipped with a standard wide-angle omnidirectional LiDAR, a depth camera, and an optical camera at the front and rear, the GQR0440 possesses powerful obstacle avoidance and terrain adaptation capabilities. Combined with deep learning algorithms, it achieves flexible and dynamic obstacle avoidance. The GQR0440 comes standard with Intel Core i5 (platform features) and Intel Core i7 (user-developed), with an optional Intel Core i7 and Nvidia Jetson Orin NX (up to 3), providing substantial AI computing power.

1.2 Parts Name

The main body of the GQR0440 quadruped robot is illustrated below. Please refer to the actual product for accuracy.

Diagram Description: The diagram shows the GQR0440 robot with various parts labeled: Robot Dog Head, Antenna, Robot Dog Body, Lidar, Depth Camera, Optical Camera, Hip, Battery, Backing Pad, Knee, Optical Camera, Foot, Lower Leg.

1.3 Function Highlights

1.3.1 Super large load capacity, universal helper

The GQR0440 has a large load capacity, with a maximum standing load of 120kg and a continuous walking load of 40kg. It can meet various load demands in special and complex operations, serving as a universal and powerful helper for operators in emergencies.

1.3.2 Long-lasting endurance for continuous operation

The GQR0440 robot features a high-capacity 45000mAh battery, equipped with high-performance battery cells and an advanced Battery Management System (BMS) developed by Norsat Technology. The robot can operate continuously for over 5 hours without a load, and over 4 hours with a 20kg load, providing strong power support. It can also be optionally equipped with a contact charging pad for autonomous recharging, improving operational time and efficiency, and offering reliable support for all-weather operations.

1.3.3 Ultimate Power, Superb Athletic Performance

The GQR0440 boasts outstanding mobility, with a maximum running speed exceeding 6m/s, enabling swift task execution and improved work efficiency. It possesses exceptional obstacle-surmounting capabilities, with a maximum jumping distance of 1.2 meters, allowing it to easily traverse high obstacles or ditches and adapt to various complex terrains.

1.3.4 Multi-surface Adaptability, Great Obstacle-Crossing Capability

The GQR0440 is equipped with a wide-angle omnidirectional lidar, a depth camera, and an optical camera at the front and rear, providing long-range perception and strong anti-interference capabilities. The fusion of these sensors, combined with independently developed and optimized motion control algorithms, enables high-resolution terrain feature recognition for flexible and dynamic obstacle avoidance. This allows the robot to effortlessly climb stairs and traverse rugged terrain, adapting to various complex terrains and weather conditions such as ruins and railway tracks. It possesses high mobility and flexibility, capable of replacing humans in tasks within special or high-risk environments.

1.3.5 IP67 Dust and Waterproof Rating, Strong Protective Function

The GQR0440's body structure is made of high-strength sealing materials, effectively preventing water infiltration. Special treatment is applied to critical parts and connections, ensuring normal operation when submerged in water. With an IP67 protection rating (certified), it can withstand outdoor rain and harsh environments.

1.3.6 Equipped with Additional Peripherals to Enhance Operational Precision

The GQR0440 provides multiple expansion interfaces, including 1000M-Base-Ethemetx4, USB3.0x4, 12Vx4, 5Vx1, 24Vx4, and BATx1, accommodating various peripherals. It can collaborate with Norsat's ZI robotic arm to complete complex tasks. Users can also adapt peripherals such as gas sensors, temperature sensors, 5G networking, IR gimbals, and industrial cameras for applications like power line inspection, fire rescue, and industrial logistics. This enhances traditional operations, making them safer, more effective, and improving operational precision.

2. Interface Description

The GQR0440 fuselage features an SDK extension port on the side, allowing developers to add more extension functions. The following diagram illustrates this interface.

Diagram Description: The diagram shows the main control board with various ports labeled: PC1 USB2.0+Com. Module, PC1 USB3.0, PC2 USB3.0, PC3 Ethernet, PC2 Ethernet, PC3 USB3.0, Battery Input, Battery RS485, Battery Power, RR Leg RS485, RL Leg RS485, 5V Output, RS485, 12V Output, RS485, Battery Output, Battery Output, Switch Ethernet, 12V Output, Switch Ethernet, 12V Input, Battery Power, Wheels Motors RS485, Battery Power, FR Leg RS485, Battery Power, FL Leg RS485, PC1 USB3.0, USB3.0 HUB, PC5 USB3.0 (DP), PC4 USB3.0 (DP), 24V Output, Battery Output, Battery Output, RS485, 24V Input, RS485, CAN, Battery Input, EtherCAT, 12V Output, EtherCAT, 12V Output, Switch Ethernet, 12V Output, PC5 USB3.0, PC4 USB3.0, Switch Ethernet, 12V Output, Switch Ethernet, 12V Input, USB 3.0 Hub Output, USB 3.0 Hub Input, USB 3.0 Hub Output, 24V Output, RS485, 24V Input, RS485, USB 3.0 Hub Output, 5V Output, USB 3.0 Hub Output, Switch Ethernet, 12V Input, Switch Ethernet, 12V Output, User Interface Module, 24V Output, RS485, 24V Output, RS485, 24V Output, RS485, Switch Ethernet, 12V Output, Switch Ethernet, 12V Output, Switch Ethernet, 12V Output. It also lists the USB 3.0 Hub connections: [1] Rear RGB Camera, [2] Rear Intel RealSense D4301, [3] Front RGB Camera, [4] Front Intel RealSense D4301.

3. How to charge

Due to factors like battery self-discharge during transportation and storage, it is normal for the battery to have low or no power when first used. You can charge it as follows:

3.1 Charge the battery

Steps:

1. Remove the battery from the body (pull out the battery pack strap).
2. Connect the charger to an AC power source (100-240V, 50/60Hz). Ensure the external power supply voltage matches the charger's rated input voltage. Otherwise, the charger may be damaged.
3. Plug in the AC power first, then connect the charger to the battery.
4. Before charging, ensure the battery pack is switched off to avoid damaging the battery and charger.
5. The user needs to remove the battery pack from the robot for charging.
6. During charging, the battery indicator will flash at 1Hz (1 second/time) to indicate the current battery level.
7. If the battery indicator is off, the battery pack is fully charged. Remove the battery pack and charger.
8. The battery pack may be hot after running; allow it to cool to room temperature before charging.

3.2 Remote Control Charging

When the battery indicator light of the companion remote control shows low battery, connect the remote control to the charger as shown in the figure.

Diagram Description: The diagram shows a USB charger connected to AC power (100-240V) via a USB-Type C Cable, which then connects to the remote control.

Charging Instructions:

1. Use a 5V/1A USB charger that meets FCC/CE standards.
2. Ensure the handheld remote control is switched off before charging.
3. The power indicator light will flash at 1Hz (1 second/time) during charging, indicating the current power level.
4. When the power indicator light is off, the battery pack is full. Remove the charger.

Charging Indicator Light Guide:

4. Instructions for use

4.1 Unpacking

Place the box on a flat surface with the front side up. Open the box and carefully lift the robot out. Remove the quadruped robot, remote control, and charger separately. Place the quadruped robot flat on the surface and prepare to power it on.

4.2 Check before Power on

1. Use only Norsat Robotics authentic parts and ensure all parts are in good working condition.
2. Ensure the firmware has been updated to the latest version.
3. Users must not operate the robot while intoxicated, under the influence of drugs, or unable to concentrate.
4. Be familiar with the characteristics of each gait mode and the emergency braking method in case of instability or loss of control.
5. Ensure there are no foreign matters (e.g., water, oil, sand, soil) inside the robot and its components.
6. Ensure the remote control module and battery pack are fully charged.
7. If the expansion interface is used, check that the cable connection is correct.

4.3 Preparation before Power on

1. Installing Battery Packs

Place the GQR0440 on a flat surface. Insert the battery pack into the battery slot on the side of the robot, paying attention to the installation direction with the anti-reverse interface facing upward. If the battery pack cannot be fully inserted, adjust its orientation. Do not force it to avoid damaging the battery interface and buckles. A "click" sound indicates the battery pack is installed. Ensure the buckle is in place.

2. Body Placement (Important Steps !!!)

Horizontal type startup: Place the robot dog on a flat ground before startup and operation. The belly support pad should be flat against the ground, and the machine body should lie horizontally without tilting. The legs of the robot dog should be fully retracted, with the four knee joints and foot ends flat on the ground, ensuring neither the thighs nor the legs are pressed by the machine body.

Diagram Description: The diagram shows the robot in a retracted leg position for horizontal startup.

4.4 Start up GQR0440

After completing the pre-startup check and preparation, power on the robot:

1. Briefly press the power button.
2. Press and hold the power button for more than 3 seconds to activate the battery. The indicator light will turn solid green, indicating the current battery level.
3. After activation, wait for 2 minutes. The robot will automatically stand up with its body parallel to the ground, indicating a successful startup.

Diagram Description: The diagram shows a short press followed by a long press (more than 3 seconds) of the power button.

Troubleshooting:

• If the device fails to start, check the body's placement.
• If the legs are protruding outward or pressed inward, the robot dog may not start.
• Keep your hands away from moving joints to avoid injury.
• Once GQR0440 starts, it will stand up automatically. Maintain a safe distance.

4.5 Connecting to the Norsat Explore App

To use the app for the first time, you need to bind the device. Turn on Bluetooth on your mobile phone and keep it close to GQR0440 for real-time Bluetooth communication.

1. Download and install the Norsat Explore App. Log in with the enterprise account and password provided by Norsat.
2. If you do not have a business account, contact Norsat Robotics's sales service personnel to open one.
3. After starting the GQR0440, add the robot in the Norsat Explore App: Turn on Bluetooth on your phone, navigate to the homepage, click "Add Robot", and select the device to add.

Diagram Description: The diagrams show the login screen of the app, the process of adding a robot, and the connection modes (AP Mode and Wi-Fi Mode).

Binding GQR0440: You can connect via AP direct connection mode or Wi-Fi connection mode. After successful connection, use the built-in tutorials to master control techniques.

Diagram Description: The diagrams illustrate the AP Mode and Wi-Fi Mode connection options, including setting up a hotspot and connecting to a Wi-Fi network. Another diagram shows the process of unbinding the robot.

4. How to change the account binding?

On the homepage, go to [Settings] -> [Robot Settings], then select "Unbind" to release the robot dog from the current account. After unbinding, it can be bound to another account.

Diagram Description: The diagrams show the robot dog settings menu, including options for AP Mode, Wi-Fi Mode, and unbinding the robot.

4.6 Operate your GQR0440

1. Use the Norsat Go App to control

After completing the built-in tutorial in the Norsat Explore App, you can use the app to control your GQR0440.

2. Use remote control to control

First, short press the power button on the remote control, then press and hold for more than 2 seconds. A "beep" sound indicates the remote control is turned on.

To use the remote control for the first time, bind it in the Norsat Explore App: Go to [Settings] -> [Remote Control Settings], enter the corresponding remote control code to bind it with the data transmission module on the robot dog. Click [Modify] to change the remote control for operation.

Diagram Description: The diagrams show the remote control interface within the app, including options for Robot Dog, Remote Control, Battery, and Automatic Machine Inspection. It also shows the Remote Control Settings with a Remote Control ID.

Once the remote control is powered on and connected to GQR0440, the data transmission light will be fully lit, indicating the connection. You can use regular remote control commands or AI remote control commands:

• Regular remote control mode: Relies on manual intervention and decision-making, providing good stability and reliability.
• AI remote control mode: Autonomously adapts to the environment and makes decisions, providing better adaptability for scenarios like climbing stairs and walking on complex terrain.

Diagram Description: The diagram shows the remote control with buttons labeled "Shortly press + Long press" and "All signal lights are on".

4.7 Switching off GQR0440

Ensure the robot dog stands on a flat ground in a static standing state before turning it down. The robot body should be in the initial state after startup and standing, horizontal, with the handle not operated.

1. Press buttons L2+A twice. The robot completes joint locking and lying down actions.
2. After the robot enters the lying state, briefly press the power button, then press and hold for 3 seconds to shut down.

After turning off the power, place the robot in the required position and arrange the legs and hip joints properly for the next power-on. If the GQR0440 is not used for a long time, remove the battery pack in time by pulling out the handle; the battery pack will pop out.

Diagram Description: The diagrams show the robot in a lying position with arrows indicating how to remove the battery pack.

Caution:

• Ensure the robot is turned off in a damping state. Otherwise, it will fall heavily on the ground after being turned down and powered off, potentially causing damage and hidden dangers.
• Be careful not to pinch your hands at the movement joints.

4.8 Packing

Preparation for packing: Rotate the legs of the quadruped robot to the position shown in the picture (rear leg retracted step). Rotate the rear leg hip motors so the rear thighs are placed as shown, and retract the rear lower legs to the position shown.

Diagram Description: The diagrams show the robot's legs being retracted for packing.

After pre-packing preparations, place the quadruped robot in the lower part of the transportation case. Put the remote control, charger, etc., in their respective positions inside the case to ensure they do not fall out when the upper part is closed.

5. Abnormal Condition Description

When using the GQR0440 quadruped robot, abnormalities may occur. Most situations are controllable with solutions. Users should not panic. Read the following contents in detail and solve problems step by step.

For questions, contact Norsat Robotics official technical sales at sales@norsat.com.

1. Self-testing fails after startup: If the robot fails to stand up after lying on the ground for 2 minutes during startup, it indicates a failed self-check. Recheck using "Check before Power on" and "Preparation before Power on" steps before attempting again.
2. Self-testing fails after startup (movement control): When using Norsat Robotics's movement control program, the robot may switch to self-protection status due to falling caused by external factors (e.g., lack of friction) or improper operation. The robot's motor will automatically switch to braking state to protect parts.
3. App connection abnormality: In AP direct connection mode, check if the phone is connected to the GQR0440's hotspot. If hotspot configuration fails, ensure the hotspot name contains no special symbols or spaces. Ensure the robot and phone are close, then restart both the robot and the app.
4. How to turn off the robot when the remote control module fails: If the remote control module fails (e.g., battery exhaustion), and remote control buttons are unresponsive, forced shutdown is necessary. Keep the robot at least 2 meters away from obstacles, complex ground, crowds, and water. Hold the head and tail, short press the power switch once, then long press for more than 3 seconds to turn off. Move it slowly to the ground after powering off.
5. The robot is easy to fall down and cannot stand when powered on: If the robot fails to stand up after startup due to incorrect posture, leading to incorrect motor angles, restart with the correct startup posture. If the issue persists, recalibrate the robot joints using the Norsat Explore App.

Note: GQR0440 is factory calibrated. Do not recalibrate for normal use. If abnormalities occur, consult Norsat's official technical support before recalibrating.

The entrance for joint calibration in the App is [Settings] -> [Data] -> [Robot Dog] -> [Calibration].

6. How to stand by for a long time

If you need to stand by for a long time, control the robot to the lying position and press (L2 + B keys to enter damping mode) to prevent falling when power is low.

Attention! When lifting the robot, do not place hands on the joints (e.g., hip joint) to avoid pinching. If the robot is forced to shut down while standing without protection, it will fall flat on the ground after losing power.

6. Precautions

1. Regarding motion control switching: Ensure the robot dog is in lying or damping mode before switching motion control. Keep a 1-meter diameter clear range to avoid casualties or property damage from non-standard operations. Norsat Robotics is not liable for losses resulting from such incidents.
2. Regarding safe recovery of standing: Ensure there is space for the robot to stand up, with no people or objects within a 2-meter diameter circle. Norsat Robotics is not liable for losses or consequences resulting from casualties or property damage.
3. Regarding complex command safety instructions: The front jump command is considered dangerous. Ensure no obstacles are within a 2-meter semicircle in front of the robot (especially people). Norsat Robotics is not liable for losses or consequences resulting from casualties or property damage caused by non-standard operations.
4. Regarding battery life: The robot's comprehensive running endurance is approximately 4-6 hours. With a 20kg load, running time is about 4 hours, and the range is over 15km. Without a load, continuous walking time is approximately 5 hours, and the range is over 20km. Actual battery life depends on factors like high-speed walking, intense posture adjustments, walking with bent legs, carrying loads, low body height, and terrain.
5. Regarding steps and uneven surfaces: Use regular motion control and avoid steps exceeding 20cm. With AI motion control, avoid steps exceeding 25cm to prevent tripping. When encountering uneven terrain, be cautious and reduce speed.
6. Regarding climbing slopes: In regular motion control, the rated uphill angle is less than 20°. In AI motion control, it's less than 45° in low gear and less than 30° in high gear. Angles greater than 45° may cause the robot to drift sideways or become unstable on steep slopes. Operators must control the robot properly.
7. Regarding obstacle crossing: In regular motion control, obstacle crossing distance is ≤ 20cm. In AI motion control, it is ≤ 25cm. Be cautious and reduce speed when crossing obstacles.
8. Regarding speed: When running on smooth terrain, stay away from crowds.
9. Regarding foot components: Foot components are consumable. Spare parts are provided. Wear is significant on rough terrain. If foot pads show wear or damage, or if impact noise increases, replace foot components promptly to prevent abnormal movement or damage.
10. Regarding IP67 protection: Before operation, ensure the battery interface, battery compartment interface, battery surface, and battery compartment surface are dry. After operating in water or rain, wipe the robot surface clean.
11. Do not touch the robot while it is in motion! Be careful of getting fingers caught at the joints, such as the knee joint.

7. Daily Maintenance

7.1 Whole Machine Clean

1. Clean

When the GQR0440 is used in harsh environments (rainy, dusty, wet), clean the robot body surface promptly. Before cleaning, turn off the power. Use a clean, soft cloth to wipe the body, paying attention to the multi-view depth camera. Strictly avoid using metal brushes, sandpaper, etc., to prevent scratching. After cleaning, dry the body with a soft cloth. Use a fan or air gun to dry accumulated water on the surface and joint gaps to avoid water marks.

Caution: The whole GQR0440 robot (including battery pack) is IP67 waterproof. Do not remove the battery pack when cleaning.

2. Storage

Store the GQR0440 in a dry, cool room, away from sun and rain, to prevent corrosion and prolong service life. Remove the battery pack when storing for a long time.

7.2 Inspection and Maintenance

Routine inspection before and after operation can greatly improve product reliability, reduce potential safety hazards, and extend service life.

Uncharged checklist:

Uncharged checklist (continued):

Battery pack maintenance

1. Never charge the battery pack in environments with excessively high or low temperatures.
2. Never store the battery pack at room temperatures above 40°C.
3. Do not overcharge the battery pack, as this can damage the cells.
4. If not using the battery for an extended period, check its power regularly. If power is less than 30%, charge it to 70% before storing to prevent over-discharge and damage.

It is recommended to perform the above inspections before each use!

If any parts are damaged and need replacement, contact Norsat after-sales service promptly!

ABOUT NORSAT

Norsat International Inc., founded in 1977, is a leading provider of innovative communication solutions that enable the transmission of data, audio, and video for remote and challenging applications. Norsat's products and services include customizable satellite components, portable satellite terminals, maritime solutions, and satellite networks. The company's products and services are extensively used by telecommunications service providers, emergency services, homeland security agencies, military organizations, healthcare providers, and Fortune 1000 companies.

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