Manual control

TIAGo can be controlled manually using the LogiTech controller.

Base control

At any time, the controller can take priority over the base movement by pressing the start button. The base of TIAGo can be controlled as follows:

Forward/Backward motion

To move the base forward or backward, use the left joystick.

2. Forward/backward control

Rotational motion

To change TIAGo's direction, use the right joystick 3.Rotational control

Increase/decrease speed

You can increase or decrease the base speed using the controller with the following button combinations: 1. Increase linear speed (a) 2. Decrease linear speed (b) 3. Increase angular speed (c) 4. Decrease angular speed (d)

2. Change base speed

Torso control

TIAGo's torso can be lifted or lowered using the left bumper and trigger of the controller, respectively.

Head control

TIAGo's head can be controlled using the A, B, X, Y buttons to look up, down, left and right according to the position of the button on the controller.

Gripper control

TIAGo's right gripper can be opened or closed using the left bumper and trigger of the controller, respectively.