Safety considerations to be taken into account when following these procedures are shown in this document with this \inlineimage{attention.png} icon, and are collected, in addition to other general safety measures, in the Tibi Dabo Safety sheets \cite{safety-sheets}.
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}.
\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.
\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 Check the onboard emergency button is unpressed. See Fig.\ref{fig:security-system}.
\item Press the enable button from yellow remote controller. See Fig.\ref{fig:security-system}.
\item Check the back green light is enabled. See Fig.\ref{fig:security-system}.
\end{enumerate}
\item If arms are enabled, they will perform an initial calibration movement sequence. See Fig.\ref{fig:arm-calibration}.
\item Turn on the Segway platform on his low-back panel. See Fig.\ref{fig:segway-panel}.
\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 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{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.}
\item Remove the auxiliary caster wheel structures, one at a time, by first unlocking both clips and then pulling along the bar axis. See Fig.\ref{fig:caster-wheels}.
\item Enable the balancing mode by pressing its low-back panel button. Its blue light should turn on, and the platform should start making small movement corrections to stay in vertical position. The person holding the robot should release it gradually checking the correct balancing behavior.
\caution{if undesirable behavior is expected (the robot is not balancing in position), do not release the platform, switch again to stabilized mode and check again the process is being followed correctly.}
\caution{at least two people are needed to perform this task, to prevent parts from falling to the ground and break.}
\caution{be careful not to pinch wires when mounting the parts.}
\item There are orange and white covers for Tibi, and blue and white covers for Dabo. Covers are no interchangeable. You can distinguish robots by looking at their back head color.
\item Each robot set of covers has 4 pieces, top-front, top-back, bottom-front, bottom-back. Identify them according to Fig.\ref{fig:robot-covers}
\item Start with top-back piece, aligning the shoulder pins into their pinholes, taking into account waist buttons and their corresponding holes.
\item Continue with top-front piece, aligning it correctly first on both sides of the central screen structure, matching its top pins and pinholes, and securing it onto the back-part with both side clips.
\item Repeat the procedure with both bottom-back and bottom-front body parts.
\caution{when the robot runs in autonomous navigation mode, although the robot should detect the obstacles, there should always be someone watching the robot and able to take remote manual control or push the emergency stop button (onboard or remote) in case it’s needed.}
\caution{always test manual control override capabilities at the beginning of each experimentation episode.}
\caution{while the robot is operating, there will always need to be someone holding the yellow remote security controller supervising the robot behavior.}
\item If a dangerous situation is observed, onboard or remote red emergency button must be pressed. See Fig.\ref{fig:security-system}.
\item The robot will stop all its movement: Segway platform, arm and neck servo motors.
\item Stop all the software running as explained in section \ref{shutdown}/\ref{shutdown-software}.
\item Turn off the Segway platform as explained in section \ref{shutdown}/\ref{shutdown-segway}.
\item Try to identify the cause of the undesired behavior so you are able to fix the software and avoid it from happening again.
\end{enumerate}
\item Recover from emergency stop
\begin{enumerate}
\item Steps from section \ref{startup}. Startup, starting from step \ref{enable-security}. Enable security remote controller, must be repeated.
