Assembly Manual
Assembly Verification
Work in progress
Post-assembly test instructions are being organized and will be added here.
1. Post-Assembly Integration
After the physical structure is complete, finish the integration work before any motor power-on:
- Install the motion control board in the pelvis.
- Connect all CAN buses according to the wiring plan.
- Connect the IMU.
- Install the back panel.
Before moving on, verify connector seating, CAN continuity, wire polarity, and strain relief one more time.
2. Power-On Preparation
Check whether a crane is required for your setup before proceeding. Use the crane or support frame for initial bring-up whenever the robot cannot safely support itself.
Before turning on the motors:
- Turn on the robot main switch, but do not enable the E-stop motor power yet. This should power the system electronics without energizing the actuators.
- Verify that the IMU, audio input/output, and camera are working through the available system interface or API.
- For the IMU check, move the robot body by hand and confirm that the reported IMU data changes correctly.
3. Motor Power-On and Homing
Before enabling motor power, stand at least 1.5 m away from the robot and wear safety goggles.
- Support the robot with a crane.
- Enable the motors using the E-stop switch.
- Home the robot through the edge API or the Raspberry Pi-hosted web app.
- Keep the robot on the crane during the full homing process.
- Make sure the homing pose matches the URDF zero position.
- Check the reported motor positions.
- Verify that each installed motor matches the expected software-side motor configuration.
4. Locomotion Check
Perform the following checks with the robot still supported by the crane:
- Damping mode: enable damping mode from the mobile app and physically move the joints. They should feel properly damped and provide noticeable resistance. Confirm that the firmware also reports no detected issues. If your workflow uses an
EOLstate flag, confirm it is set correctly before continuing. - Stand mode: command the robot to stand from the mobile app while it is still attached to the crane. The robot should hold a stable standing posture without depending on the crane for balance.
- Policy activation: activate the locomotion policy only after stable balancing is confirmed. Once the robot is stable, remove the hook and allow movement.
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