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How do I make Robosapien walk straight when his arms are not balanced?

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How do I make Robosapien walk straight when his arms are not balanced?

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– By pressing the STEP button again, or, if stopped, by pressing STEP-STEP. This puts him into the much more stable “slow-walk” mode. Slow-walk allows Robosapien to push, pull, or kick his way out of many situations.. If he continues to stop, use the “SELECT-SELECT-BULLDOZER” mode; he will push through any obstacle he can.

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