Using the robot

This page contains basic instructions for operating the robot. Robots are available on a first come first serve basis. In periods of high demand there may be a signup system in place. Ask if you aren't certain.

Unplugging the robot from the wall

Find the robot you plan on using.

Every time you start working with the robot, you should disconnect it from charging at the wall. Find the cable leading from the charging brick to the robot and disconnect it. Please detach by holding the connectors only, and don't pull the connection apart using the wires as they may break off.

Before leaving the lab, ensure that you put the robot back on charging

Power on the robot

The exact steps vary from robot to robot. If you are not certain which robot is which, please ask.

V2

1. We will turn on the robot and its laptop. Find the panel on the robot. There is a large, three-position flip switch with the two extreme positions labeled "Charger" and "Battery". Flip from charger all the way to battery. The middle position has no specific function.

2. Now, turn the laptop on. Open up the laptop lid, and press the power button. Use the appropriate user/pass to log onto the machine.

3. Now turn the Segway base on. Locate the power buttons underneath the bottom of the Segway base. First press the green to power the base, you'll feel it sink and stay sunken. It will light up.

4. Then press the yellow button to turn the segway processors on. You'll hear an audible beep and the blue light will turn on. While the segway processors are on, do not move the robots manually!.

5. You should now be able to operate the robot using the laptop.

V2 Arm

1. Every time you start working with the robot, you should disconnect it from charging. Find the charging connector from the battery charger and disconnect it. Please detach by holding the connectors only, and don't pull the connection apart using the wires as they may break off.
2. Start the laptop and login
3. Turn on the arm and home it by pressing the yellow button
4. Turn on the base pushing the green button first and then the yellow button
5. Open a new terminal and run:

roslaunch bwi_launch segbot_v2.arm.launch

6. Launch the Xtion camera

roslaunch segbot_sensors xtion.launch

Verify if it's running with:

rostopic list | grep "xtion"

7. Look in Rviz to ensure that no errors have occurred and localize the robot
8. Check if the arm is back-driveable by pushing it. If it is stiff, then it has not been properly initialized.

V3

1. Verify that the e-stop (red button located near the center of the robot) is disengaged (pulled all the way up).

2. Press the small metal button near the charging connector. The computer and the base should start.

3. Ensure that the wireless keyboard is on.

4. You should now be able to use the robot.

V4

1. Verify that the e-stop (red button located near the top of the robot) is disengaged (pulled all the way up).

2. Press the small metal button on the e-stop box. The base should turn on

3. Crouch down in front of the robot. Reach through the gap between the right side of the computer in the base and the metal box around it. The power button is located between the start of the case and the first ridge. Press it.

4. You should now be able to use the robot.

Charging the robot

It’s important that the robot is off and charging before you leave. To accomplish this:

V2

1. Power off the Segway base. Press the the green button. All lights on the segway base should go off.

2. Turn off the laptop (standard laptop shutdown).

3. Flip the switch on the robot panel to "Charger"

4. Connect the charger to the robot.

V3 and V4

1. Press the power button.

2. Connect the robot to its charger

3. Verify that the lights on the charger are lit up either green or red.