1. PR2 Hazards
Hazards are things that a robot might do that could cause damage.
Everyone who uses a PR2 should familiarize themselves with this list of known hazards so they can anticipate and avoid any circumstances that might trigger one of them.
If you think of a hazard that is not on this list, notify the Safety Board using one of the methods described at Safety Contacts
Each hazard is associated with an estimate of its severity. The four levels of severity are:
4 |
Life threatening |
3 |
Permanent injury |
2 |
Requires treatment by medical professional |
1 |
Discomfort or inconvenience |
The PR2 hazards that have been identified are:
Severity |
Hazard Description |
4 |
Robot overheats and catches fire or emits smoke. |
4 |
User electrocuted. (Current path needs to go through chest cavity.) |
4 |
Robot falls on person from height. |
4 |
Robot blocks access (e.g., to fire exit) during emergency. |
3 |
Joints fold up, resulting in crushing hazard. |
3 |
Robot falls on person from ground level. |
3 |
Hair, ties, etc. caught in moving parts. |
3 |
User's fingers get caught in holes. |
3 |
Spine moves down, resulting in crushing hazard. |
3 |
User hand caught in/under covers. |
3 |
Robot gripper pokes eyes. |
3 |
Robot gripper grabs user and twists. |
3 |
Robot drags power or Ethernet cables (wheels or covers/edges catch something). |
3 |
Robot knocks things over (e.g., bookshelf). |
3 |
User injured taking off forearm or upper arm. |
3 |
Robot turns on stove. |
3 |
Robot breaks object into sharps (e.g., glass). |
3 |
Gas spring abruptly unloads potential energy (inherently doesn't move too fast). |
3 |
Spring cans opened incorrectly. |
3 |
CB abruptly unloads potential energy. |
3 |
Load-bearing part breaks. |
2 |
Users' fingers pinched behind head. |
2 |
User's fingers pinched at lower-left corner of laser tilt sled. |
2 |
Plastic cover shatters. |
2 |
Sensors fly off of head. |
2 |
Robot doesn't let go of user. |
2 |
User's fingers caught in bellows. |
2 |
Gripper squeezes user. |
2 |
Texture projector flicker may cause headaches or seizures. |
2 |
Robot breaks power cable, e.g., moves when plugged in. |
2 |
Robot drives over user. |
2 |
Robot produces medium-intensity sound for long period of time. |
2 |
Sharp corners hit users, esp. if covers are off. |
2 |
User burned on hot surface of robot. |
2 |
Robot produces high-intensity sounds. |
2 |
User pinned between robot body and surface (e.g., wall). |
1 |
Robot arm hits user. |
1 |
User pinned between robot arm and surface. |
1 |
Robot body runs into user. |