> For the complete documentation index, see [llms.txt](https://bywerks.gitbook.io/bysense/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://bywerks.gitbook.io/bysense/mission-preparation/starting-protocol.md).

# Starting Protocol

## Sit position and joint positions

make sure robot sits on flat ground and axis touches the ground with the calibration Bumpers the feet and the back side of the KFE axis.

<figure><img src="https://lh7-us.googleusercontent.com/docsz/AD_4nXdtYQACHt78_fk9nMYTngkI_PuM60cDTfkQMWD1U2miIA0JathCi3inNgKIsGFG_MzphIwJRbnx_ogJ_uA_CtzW4pztKNBPJ6PhlYceQvESbP-svXycOViEFMw6FfXXWFroXdq_k8GJnjXee2mqsC4jBjKZ?key=dxKxqxOfDeem6LZsmsKuKA" alt="" width="563"><figcaption></figcaption></figure>

### Calibration Bumpers

When starting up the robot it must be placed on flat ground. The bumpers are made out of flexible material and provide the relevant clearance. Those bumpers are replaceable.&#x20;

<figure><img src="https://lh7-us.googleusercontent.com/docsz/AD_4nXd5Jdr02wROmgqsN-sjc4d9G59e5urEnU80ORLUXMcrmEwRpta8eLJShk-ZlJ_selBsWfkBUsivhSYquiYGhMKH66P_XhnIS_HRU_kWDiw7xebfVlaf4OhB9ZK2vgWtpkWaV8xeJRF4HuOtrvMJmlxVaTXJ?key=uqd7CQzygHX4REyQNvsHfA" alt=""><figcaption></figcaption></figure>

{% hint style="warning" %}
We use this initial position when starting to calibrate and check its systems. An uneven surface or incorrect axis positions can critically impact your application and the performance of bysense, potentially leading to system failure.
{% endhint %}

{% hint style="info" %}
the bumpers are designed to be replaced after heavy use.
{% endhint %}

## Safety Distance

Before turning bysense on make sure no people are within 1m around.

<figure><img src="/files/O4jMlN2mFWBKvRzc9QDH" alt="" width="563"><figcaption><p>1m Safety Distance</p></figcaption></figure>

## Power Switch On

The boot up sequence for the robot takes around 1-2 min. Within this sequence the internal OS is getting ready, calibration manager is doing the initial job and further checks of the systems are done.&#x20;

<figure><img src="/files/it8NDBtTo2yqB0fuC8u8" alt=""><figcaption></figcaption></figure>

The LED on the switch will turn green when it is turned on. Continue to keep the 1m distance to the robot while operating.

## Ready to Stand Up

once the booting sequence is done and all systems are checked bysense is ready to standup and ready to use.

<figure><img src="/files/1oAX9JoNBVu7ZmOdvWIH" alt=""><figcaption></figcaption></figure>

{% hint style="warning" %}
Keep a operating safety distance of min. 1m and check all four legs looks visually the same when standing up to ensure a correct calibration.
{% endhint %}

## *Optional -* Debug Cage&#x20;

we recommend to use a cage or other type of installation which allows to protect the robot from falling on the ground when developing on the low level controller. A typical easy to build cage can be made out of few extrude profiles, some wheels and ropes similar shown to the image below.

<figure><img src="/files/hb3qE4qM4gsFcWnUvHpI" alt="" width="375"><figcaption><p>example of a debug cage for the low level controller development</p></figcaption></figure>

{% hint style="warning" %}
the robot must sit flat on the ground before turning on.&#x20;
{% endhint %}

For any easy installation we recommend to a bracket on each side of handles with a rope and carabiner for a quick release to switch between the sit position and stand up position.