1. Guidelines for using a PR2

While many guidelines for the safe use of a robot stem from common sense, we list a basic set here. We stress the importance of following these guidelines but emphasize that these guidelines alone do not guarantee safety, only reduce risk.

• Every organization that uses a PR2 must appoint a Safety Officer.

  • The Safety Officer's contact information should be known by everyone in the organization who uses the PR2 (including designers, developers, programmers, and end-users).

  • Details of the Safety Officer's roles and responsibilities are described in the Safety Officers page.

• Before operating or working with the PR2 you must do the following:

  • view the safety video

  • read the User Manual, in particular the entirety of Chapter 2 on Safety

  • read and understand the latest list of potential hazards, and

  • know how to contact your organization's Safety Officer

• Supervise children, visitors, and anyone who has not followed the previous guideline. In particular, make sure they

  • do not come within range of the PR2 when active
  • are aware the robot could move unexpectedly and is potentially dangerous
  • are not alone with the PR2, and
  • do not operate the PR2

• Maintain a safe environment. Safety is not only affected by how you operate the robot, but by the environment as well. The PR2 is designed to operate in a laboratory environment.

  • Keep the robot at least 7 meters from the top of a stairway or any other dropoff.

  • Make sure the robot has adequate and level space for any expected or unexpected operation.
  • If the robot travels on a ramp, make sure the spine is lowered and the arms are tucked in so that the center of gravity is as low as possible. The slope should not be more than 1:12. Ensure that the robot cannot fall off the edge under any circumstances.
  • Make sure the the environment is free of objects that could pose a risk if knocked, hit, or otherwise affected by the PR2
  • Make sure there are no cables or ropes that could be caught in the covers, wheels, or arms; these could pull other objects over.
  • Make sure no animals are the near the robot.
  • Keep fingers, hair, and clothing away from wheels and gears.
  • Be aware of the location of emergency exits and make sure the robot cannot block them.
  • Do not operate the robot outdoors.

• Keep the PR2 away from open flames and other heat sources. The PR2 covers are flammable. They may burn if ignited.

  • Never use the PR2 around stoves or ovens.
  • Always be prepared for a fire and have a fire extinguisher ready to use. An ignition source could come from anywhere, including a internal failure of a PR2 system.
• Use caution to avoid electrical shock.
  • Do not allow the robot to come in contact with liquids (spilled drinks, rain, etc.). This is particularly important when the robot is plugged into an AC outlet.
  • If a robot does get wet, turn off the DC breaker and contact Willow Garage. If it is plugged into an AC outlet, don't touch the robot, turn off the circuit breaker that controls the outlet.
  • Before removing any covers, the PR2 should be unplugged and the DC breaker should be turned off.
  • Make sure the power cord is in good condition. Cord insulation must be intact with no cracks or deterioration. Both connectors should be undamaged. If the power cord is damaged in any way, it should be discarded and replaced with a new cord from Willow Garage.

• When plugging in the PR2, always attach the power cord to the AC inlet on the robot before attaching it to the AC outlet on the wall. Unplug the cord from the wall before unplugging from the robot.

• Use extreme caution whenever the robot's spine is contracting. Objects or body parts could be crushed between the robot's body and base. Also keep people and objects away from the robot's joints.
• Make sure the batteries cannot be overheated or punctured. Do not run the robot without its covers. They help protect the batteries from inadvertent collisions.

• The operator should always have immediate access to the run/stop box and should stop the robot at the first sign of a problem. The stop button should always be pressed when examining, inspecting, or maintaining the robot.

• Use common sense when operating the robot.

  • Do not allow the robot to grab or hit any person.
  • Do not allow the robot to drive into contact with, or over, any body part.
  • Do not allow the robot to interact with any sharp or dangerous items.
  • Do not allow the robot to operate potentially dangerous appliances (like stoves) or power tools.

• Pay attention to warning labels on the robot.

• Do not remove the covers of a PR2 without prior and appropriate instruction by Willow Garage.

  • There are high voltages inside the robot.
  • There are a variety of pinch points and other mechanical dangers in the interior of the robot.
  • Counterbalances and springs store significant potential energy which could cause damage if unloaded abruptly.

• Do not modify or remove any part of the software safety features.

• If you are sensitive to 50 Hz flashing lights, the texture projector may trigger headaches or seizures.
• When you are developing software, you should consider that some people have adverse reactions to the flicker from the texture projector and only turn it on when necessary.
• Regularly inspect and maintain anything the robot interacts with. For example, regularly inspect the electrical outlets the robot plugs into.

• Anticipate potential problems and hazards. Always imagine what might happen if the robot malfunctions or behaves in a way different from the desired action. Be vigilant.

• Be aware that many things can go wrong even with a seemingly simple activity. For example, consider what might go wrong while driving the robot with the joystick:
  • The joystick could run out of batteries.
  • The Bluetooth connection between the joystick and the robot could fail.
  • The ROS node that talks to the Bluetooth driver could have been changed or have a bug.
  • The operating system in the robot's computer could hang.
  • The motor controller software node could fail.
  • The motor controller board could fail.
  • The PR2's electrical system could fail.
  • The motor or gear train could have a problem.
  • The wheels could have a problem.
  • Someone else could command the robot to move without your knowledge.
  • The operator could make a mistake. It's intuitive to drive a robot when it's going away from you, but when it's coming towards you everything is reversed.