Hello, @jack.sloan . . . this could be because of a couple of things, one being battery depleting before arriving to recharge or misalignment of his legs leading him to walk incorrectly.
After he is fully charged, check to see how quickly his battery is depleting and when he indicates that he needs to go home to recharge. If the time is very short, it could be a battery issue.
When he is fully charged, tell him to walk forward towards you. Does he veer off to one side rather than walking straight? There is a possibility EMO may need his leg servos aligned through an app.
Once you have determined if either of these is the case, please get video and send a link to service@living.ai along with your EMO I.D. when he signs into the app and your order number if you still have it.
Let us know how it goes.