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1 1  {{html wiki="false" clean="true"}}
2 +<body><table border="0" cellpadding="0" cellspacing="0" >
3 + <tbody><tr>
4 + <td valign="top" align="left"><b><font face="Verdana" size="2">PS2
5 + Biped BRAT Tutorial.</font></b>
6 + <p><b><font face="Verdana" size="2">Updated
7 + <!-- #BeginDate format:Am3 -->12/20/2011<!-- #EndDate -->
8 + </font></b></p>
9 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
10 + <p><font face="Verdana" size="2"><b>Note:</b> This tutorial uses the Bot Board II, BASIC Atom Pro 28,
11 + and a wireless PS2 controller/receiver.</font></p>
12 + <p><font face="Verdana" size="2"><b>Software:</b><br>
13 + &nbsp;&nbsp;- <a href="https://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl" target="_blank">BASIC Micro Studio</a><br>
14 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/bratosf3.zip">BRAT Servo Offset Finder Program</a>
15 + (09/17/09)<br>
16 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/pbrat1-2.zip">PS2 Control Code</a>
17 + (09/17/09)</font></p></td>
18 + <td align="center" valign="top" width="320"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/brat00.jpg" border="2" hspace="10" ><br>
19 + <strong>Image of Biped BRAT.</strong></font></td>
20 + </tr>
21 + <tr>
22 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
23 + </tr>
24 + <tr>
25 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 1.</b><br>
26 + Make sure your servos are plugged into the appropriate channels, as shown in Table 1.</font>
27 + <p><font face="Verdana" size="2">*Note, P9 is used by the speaker, so we can't plug a servo in there.</font></p></td>
28 + <td align="left" valign="top" >
29 + <div align="center">
30 + <center>
31 + <table border="1" bordercolor="#FFFFFF" >
32 + <tbody><tr>
33 + <td >
34 + <div align="center">
35 + <table border="1" bordercolor="#000000" >
36 + <tbody><tr>
37 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Bot Board I/O</b></font></td>
38 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Connection</b></font></td>
39 + </tr>
40 + <tr>
41 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P4</font></td>
42 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Ankle</font></td>
43 + </tr>
44 + <tr>
45 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P5</font></td>
46 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Knee</font></td>
47 + </tr>
48 + <tr>
49 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P6</font></td>
50 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Hip</font></td>
51 + </tr>
52 + <tr>
53 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P7</font></td>
54 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Ankle</font></td>
55 + </tr>
56 + <tr>
57 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P8</font></td>
58 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Knee</font></td>
59 + </tr>
60 +
61 + <tr>
62 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P10</font></td>
63 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Hip</font></td>
64 + </tr>
65 + </tbody></table>
66 + </div></td>
67 + </tr>
68 + <tr>
69 + <td bordercolor="#FFFFFF">
70 + <p align="center"><font face="Verdana" size="2">Table 1.</font></p></td>
71 + </tr>
72 + </tbody></table>
73 + </center></div>
74 + </td>
75 + </tr>
76 + <tr>
77 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
78 + </tr>
79 + <tr>
80 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 2.</b><br>
81 + Make sure the Bot Board's jumpers are set according to Table 2.</font>
82 + <p><font face="Verdana" size="2">Refer to Figure 2 for help with jumper settings.</font></p>
83 + <p><font face="Verdana" size="2">*Note, the VS to AX0 jumper enables the program to monitor the servo battery voltage. When the battery is low,
84 + the robot can beep in warning.</font></p></td>
85 + <td align="left" valign="top" >
86 + <div align="center">
87 + <center>
88 + <table border="1" bordercolor="#FFFFFF" >
89 + <tbody><tr>
90 + <td >
91 + <div align="center">
92 + <table border="1" bordercolor="#000000" >
93 + <tbody><tr>
94 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font face="Verdana" size="1"><b>Bot Board II
95 + Jumper Settings</b></font></td>
96 + </tr>
97 + <tr>
98 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Enable</font></td>
99 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">A, B, and C buttons</font></td>
100 + </tr>
101 + <tr>
102 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">VS</font></td>
103 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">I/O Groups 4-7 and 8-11</font></td>
104 + </tr>
105 + <tr>
106 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Enable</font></td>
107 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">SPKEN (Speaker Enable)</font></td>
108 + </tr>
109 + <tr>
110 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Enable</font></td>
111 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">VS (Servo Voltage) to AX0 (P16)</font></td>
112 + </tr>
113 + </tbody></table>
114 + </div></td>
115 + </tr>
116 + <tr>
117 + <td bordercolor="#FFFFFF">
118 + <p align="center"><font face="Verdana" size="2">Table 2.</font></p></td>
119 + </tr>
120 + </tbody></table>
121 + </center></div>
122 + </td>
123 + </tr>
124 + <tr>
125 + <td valign="top" align="left" colspan="2"><br class="pb">
126 + </td>
127 + </tr>
128 + <tr>
129 + <td valign="top" align="left" colspan="2">
130 + <p align="center"><font face="Verdana" size="2">&nbsp;<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/ps2brat1.gif" border="0" hspace="10" ><br>
131 + Figure 2.</font></p>
132 + </td>
133 + </tr>
134 + <tr>
135 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
136 + </tr>
137 + <tr>
138 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 3.</b><br>
139 + Download and install <a href="https://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl" target="_blank">BASIC Micro Studio</a>. Download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/bratosf3.zip">BRAT Servo Offset Finder program</a>, and load it into the IDE.</font>
140 + <p><font face="Verdana" size="2">Program the Atom Pro, and follow these instructions to find your robot's offsets.</font></p>
141 + <ul>
142 + <li><font face="Verdana" size="2">Press A to decrease the servo offset by 5us.</font></li>
143 + <li><font face="Verdana" size="2">Press C to increase the servo offset by 5us.</font></li>
144 + <li><font face="Verdana" size="2">Press B to change which servo is being manipulated, and to
145 + save your offsets. The order of the
146 + program is shown in Figure 3.</font></li>
147 + </ul>
148 + <p><font face="Verdana" size="2">Note, if you have the Speaker enabled, when you press the B button you will hear a short tone. The tone will
149 + raise in pitch when you change from servo to servo, and will lower in pitch and be longer when you get back to Start.</font></p></td>
150 + <td align="left" valign="top" >
151 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/bratosf3.jpg" border="2" hspace="10" ><br>
152 + Figure 3.</font></p></td>
153 + </tr>
154 + <tr>
155 + <td valign="top" align="left" colspan="2"><br class="pb">
156 + </td>
157 + </tr>
158 + <tr>
159 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
160 + 4.</b><br>
161 + Place the robot in a position as close to neutral as possible, and turn it on. Your robot should go to and hold the neutral position, and should
162 + resemble figures 4-1 through 4-3. If the joints are off by more than 15° you may have made an error in assembly. To correct this, remove the
163 + center screw from the round servo horn, pull the servo horn off the servo, rotate until it's aligned, then reattach the servo horn.</font>
164 + <p><font face="Verdana" size="2">Use the A, B, and C buttons to straighten the BRAT as shown in Figures
165 + 4-1, 4-2, and 4-3.</font></p>
166 + <p><font face="Verdana" size="2">Note, if you are building the robot with HS-422 servos, you will notice the hip servos oscillate if the robot
167 + is lifted off the ground. This is normal, and is due to the lower power servo. When the robot is walking, the effects are minimal. Using a
168 + voltage that is higher than 6vdc will make the oscillations worse. When building a robot with more powerful servos such as HS-475,
169 + HS-485, or HS-645, you
170 + will not see this effect.</font></p>
171 + <p><b><font face="Verdana" size="2">After you've cycled through the servos
172 + and adjusted them to match Figures 4-1 through 4-3, pressing the B button
173 + again will save your offset values to the Atom Pro's EEPROM.</font></b></p>
174 + </td>
175 + <td align="left" valign="top" >
176 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/brat10.jpg" border="2" hspace="10" ><br>
177 + Figure 4-1.</font></p></td>
178 + </tr>
179 + <tr>
180 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
181 + </tr>
182 + <tr>
183 + <td valign="top" align="left">
184 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/brat07.jpg" border="2" hspace="10" ><br>
185 + Figure 4-2.</font></p>
186 + </td>
187 + <td align="left" valign="top" >
188 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/brat04.jpg" border="2" hspace="10" ><br>
189 + Figure 4-3.</font></p></td>
190 + </tr>
191 + <tr>
192 + <td valign="top" align="left" colspan="2"><br class="pb">
193 + </td>
194 + </tr>
195 + <tr>
196 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step
197 + 5.</b><br>
198 + Download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/pbrat1-2.zip">PS2 BRAT Code</a>, load it into the
199 + IDE, and program your BRAT.</font>
200 + </td>
201 + </tr>
202 + <tr>
203 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
204 + </tr>
205 + <tr>
206 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
207 + 6.</b><br>
208 + Now you need to create the PS2 cable to hook up PS2 control. <b>Repeat
209 + this step</b> on one side of both 6" servo extender cables.</font>
210 + <p><font face="Verdana" size="2">1. Use an exacto knife to <b>carefully</b>
211 + pry the black tabs up and slip the wires out of the black housing.</font></p>
212 + <p><font face="Verdana" size="2">2. Remove the black housing completely
213 + and set aside.</font></p>
214 + <p><font face="Verdana" size="2">3. Cover the header pin receptacles with
215 + 1/2" of heat shrink.</font></p>
216 + </td>
217 + <td align="left" valign="top" >
218 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/ps2c01.jpg" border="2" hspace="10" ><br>
219 + Figure 6.</font></p></td>
220 + </tr>
221 + <tr>
222 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
223 + </tr>
224 + <tr>
225 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
226 + 7.</b><br>
227 + Plug the cables in to the Bot Board II as shown.&nbsp;</font><br>
228 + <div align="center">
229 + <center>
230 + <font face="Verdana" size="2">
231 + </font><table border="1" bordercolor="#FFFFFF" >
232 + <tbody><tr>
233 + <td >
234 + <div align="center">
235 + <font face="Verdana" size="2">
236 + </font><font face="Verdana" size="2">
237 + </font><font face="Verdana" size="2">
238 + </font><table border="1" bordercolor="#000000" >
239 + <tbody><tr>
240 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><b><font face="Verdana" size="1">Bot Board II
241 + </font></b><b><font face="Verdana" size="1">Connections</font></b></td>
242 + </tr>
243 + <tr>
244 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" rowspan="3"><font face="Verdana" size="1">Cable
245 + 1</font><font face="Verdana" size="2"></font>
246 + </td>
247 +
248 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Black</font></td>
249 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">P12</font></td>
250 + </tr>
251 + <tr>
252 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Red</font></td>
253 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">P13</font></td>
254 + </tr>
255 + <tr>
256 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Yellow</font></td>
257 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">P14</font></td>
258 + </tr>
259 + <tr>
260 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" rowspan="3"><font face="Verdana" size="1">Cable
261 + 2</font></td>
262 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Black</font></td>
263 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">GND</font></td>
264 + </tr>
265 + <tr>
266 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Red</font></td>
267 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">5vdc</font></td>
268 + </tr>
269 + <tr>
270 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Yellow</font></td>
271 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">P15</font></td>
272 + </tr>
273 + <tr>
274 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font face="Verdana" size="1"><b>Bot Board II
275 + Jumper Settings</b></font></td>
2 2  
277 + </tr>
278 + <tr>
279 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Disable</font></td>
280 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF" colspan="2"><font face="Verdana" size="1">A, B, and C buttons</font></td>
281 +
282 + </tr>
283 + <tr>
284 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">5v</font></td>
285 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF" colspan="2"><font face="Verdana" size="1">I/O Group
286 + 12-15</font></td>
287 +
288 + </tr>
289 + </tbody></table>
290 + </div></td>
291 + </tr>
292 + <tr>
293 + <td bordercolor="#FFFFFF">
294 + <p align="center"><font face="Verdana" size="2">Table 7.</font></p></td>
295 + </tr>
296 + </tbody></table>
297 + </center></div></td>
298 + <td align="left" valign="top" >
299 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/ps2c02.jpg" border="2" hspace="10" ><br>
300 + Figure 7.</font></p></td>
301 + </tr>
302 + <tr>
303 + <td valign="top" align="left" colspan="2"><br class="pb">
304 + </td>
305 + </tr>
306 + <tr>
307 + <td valign="top" align="left" colspan="2">
308 + <p align="center"><font face="Verdana" size="2">&nbsp;<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/ps2brat2.gif" border="0"><br>
309 + Figure 7.</font></p>
310 + </td>
311 + </tr>
312 + <tr>
313 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
314 + </tr>
315 + <tr>
316 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
317 + 8.</b><br>
318 + The PS2 control commands are shown in Table 8.</font></td>
319 + <td align="left" valign="top" >
320 + <div align="center">
321 + <center>
322 + <table border="1" bordercolor="#FFFFFF" >
323 + <tbody><tr>
324 + <td >
325 + <div align="center">
326 + <table border="1" bordercolor="#000000" >
327 + <tbody><tr>
328 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>PS2
329 + Button</b></font></td>
330 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Command</b></font></td>
331 + </tr>
332 + <tr>
333 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Left
334 + Joystick Forward/Back</font></td>
335 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Walk
336 + forward/backward</font></td>
337 + </tr>
338 + <tr>
339 +
340 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Left
341 + Joystick Left/Right</font></td>
342 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Turn
343 + in place left/right</font></td>
344 + </tr>
345 + <tr>
346 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">X</font></td>
347 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Return
348 + robot to home position</font></td>
349 + </tr>
350 + <tr>
351 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><u>/\</u></font></td>
352 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Headbutt</font></td>
353 + </tr>
354 + <tr>
355 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">L1</font></td>
356 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Kick
357 + with left leg</font></td>
358 + </tr>
359 + <tr>
360 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">R1</font></td>
361 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Kick
362 + with right leg</font></td>
363 + </tr>
364 + <tr>
365 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">D-pad
366 + Up</font></td>
367 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Get
368 + up from face-down position</font></td>
369 + </tr>
370 + <tr>
371 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">D-pad
372 + Down</font></td>
373 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Get
374 + up from back-down position</font></td>
375 + </tr>
376 + <tr>
377 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Start</font></td>
378 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Enable/Disable
379 + robot's standby "rest" mode (enabled by default)</font></td>
380 + </tr>
381 + <tr>
382 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Select</font></td>
383 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Changes
384 + stride length</font></td>
385 + </tr>
386 + </tbody></table>
387 + </div></td>
388 + </tr>
389 + <tr>
390 + <td bordercolor="#FFFFFF">
391 + <p align="center"><font face="Verdana" size="2">Table 8.</font></p></td>
392 + </tr>
393 + </tbody></table>
394 + </center></div>
395 + </td>
396 + </tr>
397 +</tbody></table>
398 +</body>
3 3  {{/html}}
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