Homing Procedure

Homing Procedure#

Recovering the Robot to the Homing Position In the event the robot needs to be manually repositioned or recovered from an unsafe state, follow the steps below to return it to the homing position safely and reliably.

Step-by-Step Recovery Procedure#

  1. Lift the Robot Lift the robot in the air crane such that the legs are not touching the ground.

  2. Stop the Deployer This will set all actuators to IDLE mode, allowing the robot to be moved by hand.

pal_restart_deployer

  1. Manually Position the Robot Carefully move the robot by hand to a safe and collision-free posture. Ensure it is supported and balanced before continuing.

  2. Start the Position Controllers This switches all actuators to POSITION mode to prepare for executing the homing motion.

roslaunch kangaroo_controller_configuration position_controllers.launch

  1. Launch the Homing Motion Run the pre-defined homing motion to bring the robot into its calibrated start configuration.

rosrun play_motion run_motion homing

  1. Stop the Position Controllers

Once the homing motion is complete, stop the position controllers before launching any other control mode or task-specific controller.

Note

Ensure the robot is physically stable and no external forces are applied before running the homing motion.

📹 Video Reference:#

The following video summarizes the entire recovery procedure:

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