Jim 2 supports many modes of manual control:

Mode A
The lowest level is direct motor control, allowing the user to specify torques and watch encoder positions. This mode is used only for debugging.

Mode B
The user may also specify robot configurations in centimeters. In this mode, the software controller brings the robot to the desired configuration in a smooth manner.

Mode C
In most cases, the user gives Jim 2 general commands, telling the robot to walk a specific distance or turn to a certain angle.

Mode D
The user may also specify destinations in terms of floor coordinates. The user can choose whether the robot should reach the destination as quickly as possible or as accurately as possible.

Mode E
At the highest level, the user may run programs that autonomously navigate, find objects, and move around obstacles.

The graphical interface allows the user to control the robot and see what it sees.