HI AJ, generally after the first 25-30 minutes your pleo will have progressed into the normal mode ov operation e.g. not hathling.
When you turn pleo on he will default into a social mode where he will stand still and wait to be petted, if you do not pet him within a minute or two, he will look to the left and the right and say "huh? huh?" and then will howl or hoot and this will signal that he has entered explore mode. In explore mode he will take a few steps and then look left or right, then will continue walking untill he comes to a high obstacle or a ledge. He will then back up and continue walking. Thats explore mode. Remember if you touch him on any touch sensors more than a tiny bit while he is in explore mode he will default back into social mode, and will stop walking! SO if you want it to walk, leave it alone.
You can force Pleo into the explore mode by holding the front leg sensors simultaneously, but remember if you start to touch other sensors he will just head straight back into social mode.
Hope this helps!
degers