diff --git a/Deploy_Tienkung/common/stdin_keyboard_control.py b/Deploy_Tienkung/common/stdin_keyboard_control.py
index 4b07864..a52528a 100644
--- a/Deploy_Tienkung/common/stdin_keyboard_control.py
+++ b/Deploy_Tienkung/common/stdin_keyboard_control.py
@@ -64,6 +64,9 @@ class KeyboardController:
         print("  w/a/s/d - Movement controls")
         print("  q/e - Rotation controls (turn left/right)")
         print("  r - Reset all movement commands to zero")
+        print("  4 - Clear x speed command")
+        print("  5 - Clear y speed command")
+        print("  6 - Clear yaw speed command")
         print("  x - Quit")
         print("  Ctrl+C - Emergency stop")
         
@@ -181,19 +184,19 @@ class KeyboardController:
             self._on_c_key()
         elif key == 'm':
             self._on_m_key()
-        elif key == 'h':
+        elif key == '5':
             self._on_h_key()
         elif key == 'r':
             self._on_r_key()
         elif key == 'x':
             self._on_x_key()
-        elif key == 'g':
+        elif key == '4':
             self._on_g_key()
         elif key == 'p':
             self._on_p_key()
         elif key == 'n':
             self._on_n_key()
-        elif key == 'o':
+        elif key == '6':
             self._on_o_key()
         elif key == 'v':
             self._on_v_key()
@@ -314,6 +317,24 @@ class KeyboardController:
             self.keyboard_flag.y_speed_command = 0.0
             self.keyboard_flag.yaw_speed_command = 0.0
             print("All movement commands reset to zero")
+
+    def _on_g_key(self):
+        """处理g键 - 清除前后速度"""
+        with self.data_mutex:
+            self.keyboard_flag.x_speed_command = 0.0
+            print("X speed command reset to zero")
+
+    def _on_h_key(self):
+        """处理h键 - 清除横移速度"""
+        with self.data_mutex:
+            self.keyboard_flag.y_speed_command = 0.0
+            print("Y speed command reset to zero")
+
+    def _on_o_key(self):
+        """处理o键 - 清除偏航速度"""
+        with self.data_mutex:
+            self.keyboard_flag.yaw_speed_command = 0.0
+            print("Yaw speed command reset to zero")
             
     def _on_x_key(self):
         """处理x键 - 退出"""
diff --git a/Deploy_Tienkung/config/dex_config.yaml b/Deploy_Tienkung/config/dex_config.yaml
index 88fde29..4eed57e 100644
--- a/Deploy_Tienkung/config/dex_config.yaml
+++ b/Deploy_Tienkung/config/dex_config.yaml
@@ -6,7 +6,7 @@ sim: false
 
 debug: false
 
-control_tool: udp_loopback # joystick, xbox, keyboard, udp_loopback
+control_tool: keyboard # joystick, xbox, keyboard, udp_loopback
 
 joystick:
   initial_height: 0.957