Transportation

Robot is equiped with main power connector on his left side of the mobile platform. Remember to take apart connection to avoid accidentally switch on the robot.

connector

Robot can be carried with one or two durable steal handle tools (one in front and second in back).  Front handle can be installed only when front cover is not on. Back one can be installed all the time. 

socket

 

When one of them is on, you can carry the robot. You can also move the robot by frame (upper and lower), but it's NOT ALLOWED to carry him by arms!

 

carry

 

Starting the robot

When starting the robot, the operator should always comply with the following steps:

  • Put the robot’s arms in appropriate position for calibration (as described below).
  • Place the robot on an even surface without any obstacles around his wheels in position as close as possible to vertical.
  • Hold the robot’s back handle.
  • Lean the robot’s head back.
  • Place the main power switch in ‘on’ position – keep your hand on the power switch until you are sure that the robot is balancing properly and the calibration has finished.
  • If you feel that the robot is not balancing properly or starts spinning, turn him off immediately.
  • If the robot is balancing properly and calibration has finished, you may let go of the handle.
  • If the robot is to take part in a human robot interaction experiment, remove the handle.

When performing calibration (auto calibration after power start-up or manual calibration via touch screen) the operator should comply with the following rules:

  • The operator should observe robot movement with their hand on the main power switch, and should be able to turn off the robot immediately if the performed movement is dangerous for the robot
  • The robot should have enough space to freely move his arms; all obstacles should be removed from his surroundings.
  • The calibration process can be engaged from any position, but it is strongly advised to manually place the arms in the neutral position (arms raised and straightened out to the sides, hands slightly below the height of the shoulders, q2 and q4 arm joints aligned so that the Bowden cables are protruding towards the top).
  • If the arms are near to the robot’s body when calibration is started, the robot might hit himself; this is not dangerous for the robot but should be avoided nevertheless,
  • After the calibration process is finished and before the control system starts, there is no torque applied to the arm joints and the position of the arms can be manually adjusted.

 

 

During operation

The operator is obligated to periodically check the robot’s battery level. It can be done via MULTIMEDIA DATA screen on the Supervisor module or via ARIA software. The operator is responsible for preventing a critical battery discharge, which WILL cause the robot to fall down. The robot will additionally signal a low battery level and disconnect various components to minimize current draw:

  • 20% of battery capacity: sound signal: one single beep, none of robot components are turned off, the ongoing experiment can be finished normally, you should plan battery recharging in next 15 minutes.
  • 10% of battery capacity: sound signal: three high beeps played once, unnecessary components are disabled, only the computer, head and balancing system are still working, you should immediately finish the ongoing experiment and navigate to a charging point with the assistance of a human operator.
  • 0% of battery capacity: sound signal: three siren sounds played every 30s as long as battery state allows it. All robot components are disabled, the robot will only balance. After this alarm the robot will turn off automatically within 1-2 minutes if the batteries are new. This time may be reduced to seconds as the battery pack gets older. The operator should immediately take care of the robot and start charging.

When any alarm occurs, a hardware reset is required (the power switch needs to be turned off) before the robot can run on batteries again. Without the reset, a low battery alarm sound may not be played back during the next use of the robot, causing the automatic turn off without any sound warning.
If you are not sure whether the robot’s arms obscure the rangefinder, utilize UrgBenri software.

 

Turning off

When turning off the robot, the operator should always comply with the following steps:

  • It is advised to put the arms in the neutral position to make the calibration after next power up easier; use the following command: robot.body.arm.Reset(time);
  • If the robot handle was removed, insert it again.
  • Prepare a solid base on which the robot can rest after he is turned off. This base needs to be higher than the mobile platform clearance.
  • Holding the back handle tightly, turn off the power.
  • Place the robot on a solid base in a stable position
  • Move his arms close to his body, to avoid accidental collisions

When the robot is turned off and manually moved to another location using his wheels, the robot speed should be kept very low. Fast movement, can induce high voltage on the platform controller’s capacitors, which may lead to problems during start-up (balancing failure).

 

Problems

When after starting the robot, he is not balancing properly and not keeping his heading (it may feel that only one of the wheels is working and the robot is trying to rotate) the operator should immediately turn off the robot and manually put it on a solid base for about 10 minutes. After this time the robot can be turned on again. Special care should be paid to see if the balancing is engaged properly.

 

 

EMYS and FLASH are Open Source and distributed according to the GPL v2.0 © Rev. 0.8.0, 27.04.2016

FLASH Documentation