OI 4 Transport and Handling Procedures

OI 4 - Transport and Handling Procedures

OI 4.1: Lifting Spot

Developed from Reference (f)

⚠ CAUTION ⚠ Only lift Spot with two people. The combined robot-arm assembly weighs nearly 90 pounds and is not ergonomic.

⚠ CAUTION ⚠ Spot's integrated handles are located near pinch points in the robot's hip joints. Proceed with caution when using handles to avoid injury.

1. Spot can only be lifted if it is powered off or sitting with its motors locked out. As a reminder, the motor lockout button must be entirely OFF for the lockout to be engaged. If the motor lockout button is still red (flashing or solid), press it again to turn off the motors.

⚠ CAUTION ⚠ Pressing the motor lockout button while Spot is standing will make it immediately fall to the ground and possibly onto a foot if there is one under it.

2. As a pair, reach down and grab the fabric handles at the robot's hips. Handles should be grabbed with a closed fist to avoid pinch points at its hips.

3. As a pair, lift with knees and move Spot as needed. Be sure to communicate with lifting partner to avoid damage to robot. See below for an example of a good lift.

4. Carefully place the robot down on the new surface and release its handles. Then ensure that no leg joints are improperly positioned.

OI 4.2 - Rolling Over Spot

⚠ CAUTION ⚠ Robot cannot fully roll over if it has an arm installed. Rolling the robot with an arm installed will leave the robot on its side, not its back. Maintain caution when working with a partially rolled robot.

OI 4.2.1 Safe Rolling

⚠ CAUTION ⚠ Ensure that only the fabric handles on the hips are used to rotate the robot. Rotating with any other point can cause hands to get caught in pinch points.

⚠ CAUTION ⚠ The Spot Arm prevents the robot from rolling all the way over. Only roll the robot until it is on its side and the arm is resting on the ground.

1. Ensure that adequate space is around the robot. The robot needs approximately 3 square feet to be manually rolled, and the operator must be able to step around the robot.

2. If rolling Spot onto its side:

   1. Install the Velcro strap on the Spot Arm.
   2. Grab both handles on the opposite side of the robot from where you are standing.
   3. Position both feet against the robot's feet on the side you are standing on.
   4. Using your feet to brace the robot, lift the robot and roll it 90 degrees. Allow the hip motors to move as needed.

   ⚠ CAUTION ⚠ At 90 degrees, the robot is somewhat unstable. Maintain caution of pinch points, fast rotation of the robot, and foot placement.

   5. With the robot at 90 degrees, pause. Re-orient handles, feet, and robot joints such that the robot can safely be rolled past vertical and come to rest on the arm. The recommended method is to re-orient joints so that the handles are now slowing the rate of descent onto the ground rather than causing it.
   6. With the robot fully on its side, re-orient any joints, particularly on the arm, so that the robot is stable. The final configuration should look like the images below.

   

   

3. If rolling Spot back onto its belly:

   1. Install the Velcro strap on the Spot Arm.
   2. Grab both handles on the opposite side of the robot from where you are standing.
   3. Position both feet against the robot feet on the ground.
   4. Carefully lift the robot to 90 degrees, then pause.

   ⚠ CAUTION ⚠ At 90 degrees, the robot is somewhat unstable. Maintain caution of pinch points, fast rotation of the robot, and foot placement. Ensure that operator safety is maintained while manipulating joints.

   5. Carefully manipulate joints as needed to get the robot past the pivot point. It may be necessary to keep feet braced against the robot feet until the robot is well past vertical.
   6. Pause as needed to reset and move to a safe position to lower the robot the rest of the way to the ground.
   7. Lower the robot into the 'sit' position.
   8. Grab the back legs by the handles, lift, and rotate hip joints inwards to bring the robot chassis into full contact with the ground.
   9. Grab the front legs by the handles, lift, and rotate hip joints inwards to bring the robot chassis into full contact with the ground.
   10. Re-orient the arm as needed to ensure that it is in the 'stowed' position.

4. Check over the robot to make sure all limbs are in a neutral state and not unduly stressed. Remove Velcro strap from arm and store.

OI 4.2.2 Rolling using Robot Controller

1. Ensure that the robot is fully powered on and active.

2. If not already removed, REMOVE SPOT ARM VELCRO STRAP.

3. Ensure that the robot has 2m of clear space around it - the robot may roll to either side.

   1. If rolling the robot onto its side, make sure the robot is in the 'sit' position.
   2. Open the battery menu on the tablet and select the 'Roll Over' button as shown in the image below.

   

   3. If rolling the robot onto its belly, use the 'Self Right' button instead of the 'Roll Over' button.

4. Check over the robot to make sure all limbs are in a neutral state and not unduly stressed. DO NOT manipulate the robot until the motor lockout is engaged or the robot is powered down.

OI 4.3 Transporting Spot

OI 4.3.1 Transporting Spot Within the Computer Sciences Building

UNDER DEVELOPMENT

OI 4.3.2 Transporting Spot Over Longer Distances

UNDER DEVELOPMENT

OI 4.4 Unboxing Spot with Arm

Refer to Spot Arm Boxing/Unboxing for more details. ⚠ CAUTION ⚠ Be sure to not overextend Spot Arm joints when maneuvering robot.

1. Open the case and remove the foam bridge across the center. If needed, remove the robot controller and accessories from their locations in the case.
2. Lift the arm so that it is fully extended as seen below.

3. Twist the upper forearm 45 degrees counterclockwise while holding the gripper in place (i.e. the gripper should not rotate).

4. Rotate the base of the arm clockwise 180 degrees. Arm should now be facing towards the front of Spot.
5. Lower the arm into the stowed position as shown below.

6. With two people, lift Spot out of the case using the handles at both ends of the robot per OI 4.1.

OI 4.5 Boxing Spot with Arm

Refer to Spot Arm Boxing/Unboxing for more details. ⚠ CAUTION ⚠ Be sure to rotate and orient the joints exactly as described, otherwise it may ultimately not sit properly in the box.

1. Position the robot such that the front of the robot is oriented towards the right side of the case (as you are facing it with the top open).
2. With two people, lifting per OI 4.1, lift the robot into the case. Be sure to avoid overextending leg joints-- refer to image at the end of this OI for proper leg positioning.
3. Grab the last gripper joint and pull straight up so the arm is fully extended.

4. Rotate the base of the arm counter-clockwise 180 degrees.
5. Twist the upper forearm 45 degrees clockwise while holding the gripper in place.

6. Lower the arm onto the back of the robot, placing the foam bridge underneath the elbow. Spot should look like the image below: