Sample controller

In the task simulation samples, controllers to operate the robots with the gamepad are available. Here we will explain how to operate the different controllers.

Supported gamepads

The gamepads currently supported are listed below.

  • Sony PlayStation 4 gamepad (Dualshock4)

  • Sony PlayStation 3 gamepad (Dualshock3)

  • Logicool F310

  • Microsoft Xbox controller

  • Microsoft Xbox 360 controller

It’s okay to use one of the above if you already have one, but if you need to purchase a new one, we recommend the PlayStation 4 gamepad (Dualshock 4). The Dualshock 4 is easily obtainable, has excellent operability and durability, and it is also used in the development of the competition tasks.


A separate Micro USB cable is required in order to use the Dualshock 3 or 4 with a PC. Alternatively, the Dualshock 4 can be used with a USB wireless adapter . We have not looked into connecting it directly using Bluetooth.

Connect the gamepad to the PC to be used for the simulation.

Operating the Aizu Spider

For the Aizu Spider, the configuration uses the main Aizu Spider body as the chassis, with between 0 and 2 JACO2 arms attached.

To operate the gamepad, first switch between the operation targets using the logo Button (PS button). At first the robot chassis is the target, and each time you push the button, it switches between

chassis - arm 1 - arm 2 - chassis - …


The operation of the chassis is as follows.

Direction keys


Left stick


Right stick

raise or lower all flippers

L2 button + right stick

raise or lower front left flipper

R2 button + right stick

raise or lower front right flipper

L1 button + right stick

raise or lower rear left flipper

R2 button + right stick

raise or lower rear right flipper

Right stick button (press right stick)

Align the positions of all the flippers

※ The direction keys operate the tracks regardless of what the operation target is.
※ L1, L2, R1, R2 can be used in any combination. For example, if you hold down both L1 and L2 and operate the right stick, you can operate the two left flippers at the same time.

The operation of the arm(s) is as follows.

Left stick horizontal axis

Arm first joint

Left stick vertical axis

Arm second joint

Right stick vertical axis

Arm third joint

Right stick horizontal axis

Arm fourth joint

X, B button (square、circle buttons)

Arm fifth joint

L1, R2 buttons

Arm sixth joint

L2, R2 triggers

Open and close the hand

Operating the double-arm construction robot

The method for operating the double-arm construction robot (DoubleArmV7) using a gamepad is described below.

Direction keys


L1 button + left stick


L1 button + right stick


Left stick horizontal axis

Arm base yaw axis

Right stick horizontal axis

Arm first joint yaw axis

Left stick vertical axis

Arm first joint pitch axis

Right stick vertical axis

Arm second joint pitch axis

Y, A buttons (triangle, cross buttons)

End effector pitch axis

X, B button (square、circle buttons)

End effector yaw axis

L1 button + X button, B button (square, circle buttons)

End effector roll axis

R1 button, R2 trigger

End effector open and close

Logo button (PS button)

Switch the operation target arm

The L1 button is used to switch some of the stick and button operation targets. Where you see “L1 button + …”, hold down the L1 button and operate the “…” part.

Additional notes

The manual operation using the game controller that we have introduced here provides the minimum necessary functionality for testing. It is very low level and incapable of operating the inverse kinematics of the hand. There is no need at all to use the same operation method in the actual competition. In the actual competition, rather than competing based on manual operation skills, we would like participants to construct an efficient operation interface and improve the autonomy of the robots, so as to compete based on their robots’ ability to carry out tasks.