This document describes the procedures of how to startup, operate and shutdown the Tibi and Dabo robots\cite{tibidabo}
This document describes the procedures of how to startup, operate and shutdown the Tibi and Dabo robots\cite{tibidabo} from the Institut de Robòtica i Informàtica Industrial IRI, CSIC-UPC\cite{iri}
Tibi and Dabo are custom robots designed at IRI. See Fig.\ref{fig:robot-elements} showing the main elements.
Tibi and Dabo are custom urban social robots which are used as research project. They are based in a Segway differential platform, which allows smooth navigation on many urban scenarios, and are equipped with lidar and camera sensors to perceive their environment. Social interaction is made with movable arms and head, text-to-speech and facial LED expressions. See Fig.\ref{fig:robot-elements} showing their main elements.
\begin{enumerate}
\item Segway RMP 200 wheeled platform.
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@@ -96,6 +96,7 @@ Tibi and Dabo are custom robots designed at IRI. See Fig.\ref{fig:robot-elements
\end{figure}
To choose which components are powered on or off, front and rear power switch panels are used, which give access to a power switch and its respective fuse, for the following components, as seen in Fig.\ref{fig:component-panel-front} and Fig.\ref{fig:component-panel-rear}.
These power switches are enabled when their lower part is pressed, and its upper part is unpressed, and disabled otherwise. Note that they contain a red light, but its is not very reliable (some won't light on when they are actually on), so light status should no be trusted.
\begin{itemize}
\item Front panel
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@@ -173,7 +174,10 @@ The Segway RMP 200 platform has a rear panel shown in Fig.\ref{fig:segway-panel}
\subsection{Power on}
\begin{enumerate}
\item Power on the robot with the on/off switch on its back. See Fig.\ref{fig:power-switch}. After a short delay of around 1 second, the relays switching should be heard, and computers should start with some beeping sounds.
\item If a component or device does not power on, make sure it's particular power switch is enabled (pressed on it's lower part). Ignore light status as it's not reliable. (Fig.\ref{fig:component-panel-front} and Fig.\ref{fig:component-panel-rear}).
\begin{figure}[ht]
\centering
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@@ -182,19 +186,32 @@ The Segway RMP 200 platform has a rear panel shown in Fig.\ref{fig:segway-panel}
\caution{if arms are enabled (this meaning that in the front component panel (Fig.\ref{fig:component-panel-front}) the left\_arm or right\_arm switches are enabled), make sure the top robot covers (Fig.\ref{fig:robot-covers}) are removed so the arms can perform the initial calibration movements (Fig.\ref{fig:arm-calibration}) without collision with the covers.}
\item Ensure a charged battery is used to avoid operation interruptions. See procedure\cite{battery-procedure}.
\item Ensure the remoete emergency stop controller has a charged battery, to avoid operation interruptions. See procedure\cite{battery-procedure}.
\item Check the onboard emergency button is unpressed. See Fig.\ref{fig:security-system}.
\item Check the remote controller emergency red button is unpressed, by releasing it turning it clockwise, as stated on its reset arrow marks.
\item Press the enable button from yellow remote controller. See Fig.\ref{fig:security-system}.
\item Press the Start button on the yellow remote controller. See Fig.\ref{fig:security-system}.
\item Check the back green light is enabled. See Fig.\ref{fig:security-system}.
\item Note that, if at any point, any of the following conditions are met, the operation of the Segway platform and moving head or arms servos will be interrupted, needing to reestablish it and relaunch the software.
\begin{itemize}
\item Onboard red emergency stop button is pressed
\item Remote controller red emergency stop button is pressed
\item Remote controller battery or battery clip are removed
\item Remote controller visibility to robot is too clogged or obstructed or distance is too large.
\end{itemize}
\end{enumerate}
\item If arms are enabled, they will perform an initial calibration movement sequence. See Fig.\ref{fig:arm-calibration}.
\item If arms are enabled, they will perform an initial calibration movement sequence, which need the upper covers not to be on. See Fig.\ref{fig:arm-calibration}.
\begin{figure}[ht]
\centering
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@@ -204,15 +221,20 @@ The Segway RMP 200 platform has a rear panel shown in Fig.\ref{fig:segway-panel}
\end{figure}
\item Turn on the Segway platform on his low-back panel. See Fig.\ref{fig:segway-panel}.
\caution{for manual transporting of the robot, the Segway controller must not be running, so that the robot can be pushed and the motors do not offer resistance to movement.}
\begin{enumerate}
\item Press the green button. Its light should turn on.
\item Press the yellow button. Its light should turn on. After 1 second, the platform should start sound as it’s powered on (motor vibration).
\item Press the yellow button. Its light should turn on. After around 1 second, the platform should begin to sound as powered (motor vibration).
\item Default mode is stabilized mode and its blue light should be on.
\caution{for manual transporting of the robot, the Segway controller must not be running, so that the robot can be pushed and the motors do not offer resistance to movement.}
\item If you would want to switch to balancing mode:
\begin{enumerate}
\caution{proceed very cautiously in the next steps. Failure to follow them exactly can cause the robot to fall and cause injuries to the people around it or damage to both the surrounding objects and the robot itself.}
\caution{someone must be manually holding the robot in vertical position preventing it from tilting forward or backward, while someone else is removing the caster wheels and until the balancing mode is enabled.}
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@@ -247,7 +269,7 @@ The Segway RMP 200 platform has a rear panel shown in Fig.\ref{fig:segway-panel}
\item Repeat the procedure with both bottom-back and bottom-front body parts.
