Misty II Reference Manual
This manual contains important safety, handling, charging, storage, maintenance, repair, and disposal information about the Misty II robot. To avoid injury or harm:
- Read all in-box and online safety and operating instructions before operating Misty II.
- Retain these safety and operating instructions for future reference.
- Follow all operating and use instructions.
Note: The technical specifications for this product and the contents of this page are subject to change without notice.
Important Safety & Handling InformationCALIFORNIA PROPOSITION 65 WARNING: THIS PRODUCT CONTAINS CHEMICALS KNOWN TO THE STATE OF CALIFORNIA TO CAUSE CANCER AND BIRTH DEFECTS OR OTHER REPRODUCTIVE HARM. WARNING: Misty II is not a toy and is not suitable for unattended use by children under 14 years of age. Misty II does not conform to the Consumer Product Safety Commission’s voluntary standards for Toys nor does it conform to the ASTM F963 Standard Consumer Safety Specification for Toy Safety. We do not knowingly collect personal information from children under 14. If you are under 14, do not provide us with any information. If we learn we have collected or received personal information from a child under 14 without verification of parental consent, we will delete that information. If you believe we might have any information from or about a child under 14, please contact us at [email protected], or 1-720-370-4912. WARNING: Misty II is not intended for use by persons (including children) with reduced physical, sensory or mental capabilities, or lack of experience and knowledge, unless they have been given supervision or instruction concerning use of Misty II by a person responsible for their safety.
Using Misty II
- Misty II has autonomous roaming capabilities. Do not disable the robot’s built-in hazards system before allowing your robot to execute skills autonomously. Design all autonomous skills with the appropriate speeds and with an awareness of the environment in which the skill will be run. To avoid injury or harm, always pay close attention to your robot’s behavior when walking through an environment where the Misty II is operating.
- Regularly inspect your Misty II for potential hazards such as accrued debris and cracked, damaged, or otherwise broken parts. Because the Misty II can operate autonomously, it may accrue debris or become damaged while out of sight in ways that increase the risk of injury. In the event of such damage, DO NOT use Misty II until it can be cleaned, replaced, or repaired.
- To avoid injury or harm that can result from the robot tipping or driving off high surfaces, DO NOT operate Misty II while it is set on table tops, desks, counters, or other high places. When working with Misty II on a high surface, always set it on the foam block that arrived in its package.
- To avoid injury or harm while carrying the Misty II robot, always pick up your robot by gripping the handle on the back of its head (when powered down), or by gripping its torso with two hands (one hand on the front of the torso and one hand gripping the robot’s chassis beneath the removable backpack).
- Always operate Misty II fully assembled. DO NOT operate the Misty II when its chassis, fenders, or bump sensor covers are removed or disconnected. Disassembling Misty II exposes internal electrical and hardware components and compromises the robot’s hazards system. Operating a disassembled Misty II increases the risk of injury or harm.
- Avoid contact with the robot’s head, neck, arms, or treads when carrying an powered-on Misty II. Sudden movements of these parts while the robot is being held can damage the robot’s motors, and can cause you to drop the robot and lead to injury or harm.
- The robot’s neck can move along three axes. Movement limits in the pitch direction are ~-40 degrees (up) to 26 degrees (down). Limits in the yaw direction are +81 degrees (left) to -81 degrees (right). Limits in the roll direction are +40 degrees (right) to -40 degrees (left). DO NOT twist the robot’s neck beyond these limits, as this can severely damage the neck gears and motors.
- Always remove/return your robot from/to its carrying case by positioning the case vertically (so that the robot exits/enters the case fully upright). With the case open, grip the Misty II by its torso (never the arms) and gently slide it out of/into the case.
- The robot’s arms can become damaged under excessive force. To avoid damaging your robot, DO NOT remove the Misty II from its packaging by pulling on its arms.
- DO NOT grab or lift the Misty II by the handle on the back of its head while it is powered on and its neck motors are engaged. Doing so can cause severe damage to the robot’s clutches, gears, and motors.
- DO NOT abuse, throw, drop, puncture, violently kick, or step on the Misty II. This can damage the robot and compromise its safe operation.
- DO NOT restrict the robot from driving or moving its arms or head while operating. Doing so can cause severe damage the clutches, gears, and motors.
- Always store and operate your Misty II robot in indoor, room-temperature environments. Extremely high or low temperatures could damage your Misty II robot.
- DO NOT operate Misty II in explosive environments or areas with combustible liquids, vapors, gasses, or combustible dust.
- DO NOT use Misty II near emergency or intensive care medical equipment.
- Always use Misty II in dry, indoor environments. DO NOT use Misty II outdoors or in wet environments.
- Always check whether use of Misty II is permitted before using Misty II in public areas or in areas of public transport. DO NOT use Misty II in dangerous, hazardous, or public areas where use is not permitted (i.e. near high voltage power lines, in train stations or airports, or on trains or buses).
- For best results, always operate Misty II on suitable surfaces. Misty II drives best on smooth, flat, and hard surfaces such as carpet, tile, wood floors, and concrete. DO NOT allow Misty II to drive on wet floors.
- Misty II is not designed to drive on granular surfaces. DO NOT drive Misty II on sand, dirt, or gravel indoor surfaces.
Hazards System & LocomotionThe software installed on your Misty II robot includes a built-in hazards system intended to prevent the robot from executing commands that could cause it harm. The hazards system uses sensor data to prevent the robot from driving off of surfaces that could cause it to tip or fall, such as tables, desks, or stairs. It also stops the robot from continuing to drive when it detects an obstacle in its path, or when it senses it has collided with an object. The information below describes the configuration of the hazards system and provides best practices for using the locomotion capabilities of the Misty II.
- The maximum driving speed of the Misty II is limited to 450 millimeters per second. This is the maximum speed at which the hazard system can safely stop the Misty II from driving over floor transitions of greater than 60 millimeters. Driving at higher speeds than 450 millimeters per second near stairs or other floor transitions of greater than 60 millimeters can compromise the performance of the hazards system, risking harm or injury to the robot and people in the vicinity.
- By default, the robot enters a hazard state when a downward-facing time-of-flight sensor detects a drop distance of 0.06 meters (60 mm) or greater, when a front or rear-facing time-of-flight sensor detects an obstacle closer than 0.15 meters (150 mm), or when a bump sensor becomes activated. Each time-of-flight and bump sensor corresponds with a specific hazard state. When a sensors’ hazard state triggers, the robot will not continue (i.e. drive further) in the direction of that sensor.
- While edge detection has proven effective in most of our testing, there are still situations in which the robot can fail to see the edge and/or catch itself. It’s more difficult for the hazard system to detect an edge when the robot is driving backwards or on tables with rounded edges. The larger the radius of the curve of the rounded edge, the harder it is for the robot to stop moving in time to prevent falling. Until further enhancements to the hazards system are in place, we recommend you continue to operate your Misty II using the foam block on high surfaces like tables, counter-tops, and desks, unless you are supervising the robot and can safely catch it in the event of a fall and/or have also done extensive testing with the robot in your specific environments to know how it will consistently perform.
- The Misty II robot’s hazards system is enabled by default. Do not disable the hazards system before allowing the robot to operate autonomously. You may find it useful to customize the hazards system settings for your robot while testing and developing your robot’s skills, but do so with caution. We recommend always working with your robot on the foam block it arrived with when operating on a high surface like a desk or table. Always supervise your robot while it is operating in a new environment, and be ready to catch it in the event that it tips over a high ledge.
- Be advised that Misty II can tip while driving on some surfaces and navigating over or around certain obstacles. For best results, we suggest testing Misty II at different driving and turning speeds within the environment where it will be operational before you deploy code to run autonomously on the robot.
- Misty II may bump into objects while driving. It may also catch on loose cables and drag objects off of shelves. To prevent damage or harm, pick up or secure loose objects from the floor, and remove or secure cables and power cords in the robot’s path before operating your Misty II.
- Several of the drive commands in the robot’s API use data from the robot’s sensors to calculate friction and adjust the power each drive motor receives. Picking up the robot while it is executing one of these drive commands can cause the robot to compensate for a perceived decrease in friction by increasing drive motor speed. When this occurs, the drive motors will continue to accelerate until the drive command ends, the robot receives a halt command, or the robot is lifted higher than 0.06 meters and its downward-facing time-of-flight sensors enter a hazard state.
- Always consider the environment in which the skills you design for Misty II will be deployed, especially when those skills will be run without human supervision. Test your skills thoroughly in the environment they will be deployed to identify and programmatically avoid situations in which the robot may cause danger to itself or to other humans.
Charging Misty IIThe Misty II charger and the wireless charging station are not toys and should only be operated by adults. To prevent injury and harm, read and follow all instructions below. ELECTRICAL WARNING: The Misty II charging station, its auxiliary power supply, and the power supply for your Misty II are designed in a manner that does not present a shock hazard to the User. However, if the charging station is cracked or broken in any place, or if the power brick or cord for the charging station or the robot become, worn, frayed, or not serviceable, DO NOT continue to use them. Contact the Misty Robotics support team by emailing [email protected] to obtain replacement charging components from Misty Robotics.
- Always recharge the battery at a temperature between 0° C and 40° C (32° F to 104° F).
- To avoid electrical shock, burns, and other injuries, DO NOT open the robot’s charging station.
- The power supplies for the Misty II and the wireless charging station ARE NOT interchangeable. To avoid injury or harm, only use the designated power supply with each device.
- The Misty II wireless charging station is an indoor device. DO NOT use this charger in any area which may become wet from rain, sprinkler use, or ground water seepage.
- Keep the charging station clean and free of foreign objects. Failing to do so can interfere with the charging station’s performance, and can prevent Misty II from successfully locating and charging on the pad.
- Resonance from the charging station can heat up nearby metal. DO NOT place metal objects next to, underneath, or on top of the charging station. Keep any large metal objects or surfaces at least 10 centimeters away from the charging pad in every direction. DO NOT place the wireless charging directly on top of metallic desks or tables. Always make sure the charging station is at least 10 centimeters away from the surface of any metallic surface, without any metal objects in between.
- DO NOT place foreign objects on the charging station. The Misty II charging station generates a 6.78MHz magnetic field within the PTU coil area. It does not heat most metal objects in the same way that a low-frequency magnetic field does; however, RFID cards and thin metal film objects (like CDs and DVDs) can be heated by a 6.78MHz magnetic field, and should be treated as foreign objects. Please keep them away from the power coil area while the wireless charging station is operational.
- DO NOT use power supplies with your Misty II or the Misty II charging station other than the approved AC power supplies that arrived in the package. Use of an unauthorized charger could cause the robot’s battery to generate heat, smoke, catch fire, or explode.
- The Misty II power supply cord is region approved and designed to be plugged into a standard household AC power outlet only. DO NOT use any other power supply cable. If you need to replace a power supply cable, contact the Misty Robotics support team by emailing [email protected] to ensure proper selection of an appropriate power supply cord.
- Inspect the charging station, the power port on the Misty II, and all power cables regularly for damage to the cord, plug, or other parts on a regular basis. If the power supply cord or plug for Misty II or the wireless charging station is damaged, contact the Misty Robotics Support team by emailing [email protected] to replace it.
- DO NOT connect Misty II to its power supply cord or wireless charging base before cleaning, maintaining or performing allowed end user maintenance.
- DO NOT locate Misty II, the wireless charging station, or any power cables for the robot and its charging accessories near heat sources.
- Periodically inspect the battery for your Misty II robot for damage & leakage. If you detect damage or leakage in the battery, discontinue use of your robot until the battery can be replaced. DO NOT charge a leaky battery or one that has been damaged. For more information about checking and replacing batteries, contact the Misty Robotics support team at [email protected].
- Always disconnect the Misty II from its power supply cord or wireless charging station before cleaning or maintaining the robot and its charging accessories.
- DO NOT unplug Misty II or the wireless charging station by pulling on the power cables. Always grip the plug firmly and pull it straight out of the outlet.
- DO NOT use the Misty II power supply to charge any other battery than the provided rechargeable battery. DO NOT use the power supply for the wireless charging station with any device other than the wireless charging station.
- DO NOT charge Misty II immediately after use if the robot is hot to the touch. Let the robot cool down to room temperature before recharging.
- DO NOT cover the Misty II, its power supply, the wireless charging station, or the power supply for the charging station while the robot is charging.
- If the wireless charging station becomes submerged while it is plugged in, DO NOT step into the water to unplug it. The water could be energized, and could shock or electrocute you. De-energize the charger by turning the power off at the breaker box before you unplug it. DO NOT turn off power at the breaker box if you must stand in water to do so. If you cannot reach your breaker box safely, call your electric utility to shut off power at the meter.
- If the charger accidentally becomes wet, immediately disconnect it from the wall and contact Misty Robotics to obtain a replacement. DO NOT plug the charger back into the wall at any time to see if it still works.
- DO NOT touch the charging station or its power cord when you are wet or standing on a wet floor.
Health ConsiderationsLASER AWARENESS: The Misty II is equipped with an Occipital Structure Core depth sensor that contains a Class 1 laser, located above the right side of the robot’s display screen. This laser becomes active when you run skills or send commands that use the robot’s depth streaming capabilities, and it emits levels of optical radiation that are safe under all operating conditions intended for the Misty II. To avoid exposure to unsafe levels of optical radiation, do not operate the depth sensor if the laser or its protective lens becomes cracked, and do not modify the laser, the depth sensor, or the Misty II robot in ways not approved by Misty Robotics. RISK OF BURNS, ELECTRIC SHOCK, AND LASER EXPOSURE: Do not disassemble the Occipital Structure Core depth sensor in the visor of your Misty II. Periodically inspect the exposed exterior of the depth sensor for damage. Using a depth sensor that has been damaged or modified can result in exposure to hazardous levels of radiation. If the depth sensor becomes cracked or damaged, or if the Misty II has been exposed to high temperatures for a long period of time, avoid exposure to the laser and contact the Misty Robotics support team by emailing [email protected]. CHOKING HAZARD: The Misty II robot contains small parts that small children can choke on. The Misty II is not suitable for use by children less than 14 years of age without adult supervision. RISK OF ELECTRIC SHOCK: Use the Misty II indoors and in dry locations only. Do not handle your Misty II robot or the wireless charging base station with wet hands. The Misty II robot is not a toy. Always maintain close supervision of children and pets who are present while Misty II is operational. When operating your Misty II in a room that contains an outdoor balcony or access to the outdoors, use a physical barrier to prevent the robot from roaming outside. Children or pets may chase the robot outside, risking injury. Additionally, if Misty II roams outside, it may be exposed to precipitation or harsh weather and become damaged. To avoid pinching hands, fingers, or other body parts:
- Avoid touching the Misty II on the neck or shoulders of the robot while the robot is powered on. There is a pinch point between the robot’s head/neck and its chassis.
- Avoid touching the Misty II on the arms while it is powered on. There are pinch points between the robot’s arms and its head and chassis.
- When working with Misty II, we suggest tying long hair above your neck and shoulders to prevent it from getting pulled into the robot’s driving tracks and/or neck/arm motors.
Battery WarningThe Misty II contains a lithium-ion battery. These batteries are extremely hazardous and, if misused, are liable to cause serious injury to persons or property. Improper battery usage use may result in fire, explosion, or other hazards. As the owner of a Misty II robot, you accept liability for the use of a lithium-ion battery. As the manufacturer and the distributor cannot ensure the battery is used correctly (charging, discharging, storage, etc.), they cannot be held liable for damages caused to persons or property. Non-compliance with the instructions below could result in gas being given off, fire, electric shock, or an explosion.
- DO NOT open, crush, or heat the battery to temperatures above 113℉ / 45 ℃.
- DO NOT incinerate the battery for your Misty II robot.
- DO NOT short-circuit the battery. DO NOT allow metal objects to contact the battery terminals, and DO NOT immerse the robot or its battery in liquid.
- DO NOT subject the battery to mechanical shock.
- When you travel with a Misty II robot without removing its battery, you must bring the robot on-board the aircraft with you as a personal carry-on item. The carrying case in which the robot ships fits within the size limitations most airlines use for carry-on luggage. Contact your airline for more detailed information about size limitation policies for carry-on items.
- The Misty II robot can travel in checked luggage on passenger aircraft only if you remove the battery and transfer it separately from your checked luggage (i.e. by carrying it with you onto the aircraft).
- If you check a Misty II as luggage using the factory shipping carton, remove the factory-placed battery warning labels from the box before you check your robot.
DisposalDiscarding a Misty II and its batteries in your general household waste can be harmful to the environment. Damaged or unusable batteries must be disposed of in a container specially reserved for this purpose. When disposing of the battery, follow appropriate local guidelines and regulations. For further information, contact your local solid waste authority.
Misty Robotics One-Year Limited Warranty:This Misty II, as supplied and distributed by Misty Robotics and delivered new, in the original carton to the original purchaser, is warrantied by Misty Robotics to the original purchaser against manufacturing defects in materials and workmanship for a period of one (1) year. The specific terms of the Limited Warranty can be found online at https://www.mistyrobotics.com/legal. To request a free written copy of the Misty II Limited Warranty, please contact us at [email protected], 1-720-370-4912 or 2540 Frontier Ave., Suite 101, Boulder, CO 80301.
End User MaintenanceSome parts of the Misty II robot can be fixed or replaced by its users. Only those parts specified below are field replaceable by end users. Refer all other replacement and maintenance to the Misty support team by contacting us at [email protected]. Note: DO NOT attempt to service Misty II yourself beyond what is specified as End User maintenance. Doing so will void any applicable warranty and may result in expensive repairs and/or calibrations. Refer all non-routine servicing to Misty Robotics. Note: DO NOT disassemble or reassemble any part of the robot while it is powered on. Doing so puts you at risk of electrical shock. The robot’s internal joints and tracks can also move while it is disassembled and cause harm to tools or fingers that interfere. The current list of field replaceable parts for the Misty II robot includes:
- Arms, Bumpers, and Antenna
- 24V Power Supply for Charging Base
- Wireless Charging Base w/24V Power Supply
- Drive Gearbox Left & Right & w/Drive Wheels
Cleaning Misty IIAs a locomotive robot with autonomous capabilities, your Misty II is likely to accrue dust and debris over time. We recommend cleaning your robot on a regular schedule to ensure it continues to operate properly. The information below provides a few best practices for cleaning the robot’s sensors and exterior. If you have additional questions, contact us at [email protected]. WARNING: DO NOT use liquid or aerosol cleaning agents, thinners, alcohol, cleaning products containing ammonia or chemical hydrocarbon based solvents (like gasoline, naphtha, carbon tetra-chloried, or acetone), or any other abrasive or corrosive materials on any part of the robot. Use of these materials can damage the robot’s sensors and electronics. Cleaning Time-of-Flight Sensors: The Misty II has eight time-of-flight sensors; three facing forward, one facing backward, and four facing downward (two in front and two in rear). These sensors are located on the base of the robot, and they are likely to become dirty while the robot drives. Dirty time-of-flight sensors (especially downward-facing time-of-flight sensors) can compromise the performance of the robot’s built-in hazards system, causing the hazards system to perceive false-positives, or leading the robot to fall and cause harm or become damaged. For best performance, we recommend cleaning the time-of-flight sensor covers daily by blowing them clean with low-pressure compressed air. DO NOT use any of the cleaning agents listed above to clean the sensor covers, as this can damage the finish of the sensor cover, harm the sensor’s optical properties, and reduce the sensor’s clarity. Cleaning Bump Sensors: Debris beneath the robot’s bump sensor covers can prevent the bump sensors from becoming activated when pressed or when Misty has run into an obstacle. To clear debris from beneath these covers, gently remove each cover and blow the area clean with low-pressure compressed air. Use the indentation at the edge of the bump sensor covers to pry each cover off of Misty’s base. Rear-Facing Bump Sensor Cover Removal: Front-Facing Bump Sensor Cover Removal: Cleaning Drive Treads: The robot’s drive treads are vulnerable to the collection of dust, pet hair, and other debris from the floors on which the Misty II drives. You should inspect and clean the robot’s treads and drive track on a regular basis to ensure best performance. To clean this part of the robot, power down your robot and gently place it on its back. Manually rotate each tread in a full rotational cycle, stopping periodically to pry the tread away from the drive track wheels. Use your fingers to manually remove large objects from the wheels or treads, and use low-pressure compressed air to blow away dust and other small objects. Note: To remove some objects from the treads and drive track area, you may need to remove the side covers from the base of your Misty II. Follow these steps to remove a side cover: 1. Turn off your robot 2. Remove the front and rear bump sensor covers (see Cleaning Bump Sensors above). 3. Remove the screws that secure the white panels on each side of the robot’s base. Each side panel is secured to the base by six screws, three beneath the front-facing bump sensor cover and three beneath the rear-facing bump sensor cover.
- 4. After you take out the screws, gently lift each side panel up and away from the robot. If the robot’s arms prevent you from removing the side panels, gently rotate them to an upward position to move them out of the way.
- 5. With the side covers removed, you can access the upper portion of the treads and drive track for additional cleaning and maintenance.
Sensor & Movement CalibrationThe Misty II robot is fully calibrated at the time of manufacturing. However, certain hardware components may lose calibration if the robot falls from a high surface, if it is hit or struck by an outside force, or after extended use. This section describes how to check the calibration of your robot’s depth sensor, time-of-flight sensors, and head / arm movement actuators. If you think a component of your Misty II robot has become uncalibrated, contact us at [email protected] Depth Sensor Calibration Check: With your robot powered on, point the robot’s visor perpendicular to a flat wall 1.5 – 2 meters away. Use the SLAM streaming and depth image commands in the Misty II REST API to obtain a depth image. Observe the values in the response data to ensure they match the actual distance between the robot’s visor and the wall. Time-of-Flight Sensor Calibration Check: With your robot powered on, connect your Misty II to the Command Center web tool. Scroll down to the Sensor Data section and check the box to subscribe to Time-of-Flight messages. Then, for each sensor, place the sensor at incrementally larger distances away from a wall or another large object that the sensor an easily detect. Start by placing the object 100mm away from the sensor, and check that the return values in the Command Center resemble the actual physical distance between the sensor and the wall. Run the same test at 500mm and 800mm away from the sensor. You may see some incorrect values in the Command Center due to faulty sensor readings, but if the bulk of the values are close to the measured distance, then the sensor is in calibration. Movement Calibration Check: With your robot powered on, follow the instructions below to check its arm and head movement calibration. (To learn more about the robot’s range of movement, see the Misty developer documentation.)
- The Misty II moves its head in three directions. Limits on the range of movement in the pitch direction are ~-40 degrees (fully up) to 26 degrees (fully down). Limits in the yaw direction are +81 degrees (fully left) to -81 degrees (fully right). Limits in the roll direction are +40 degrees (fully right) to -40 degrees (fully left). When the values for pitch, range, and yaw are set to 0 degrees, the robot should appear to be looking straight ahead. To check the calibration of your robot’s head movement, use the head movement commands in the Misty II REST API to set the head to the min, max, and 0 degree positions along each axis of movement, and observe whether your robot’s movement aligns with the behavior described in this document.
- The Misty II can move its arms within a range of +90 degrees (fully down) to -29 (pointing upward). Arm movement is limited in the upward direction to prevent the arms from interfering with the lens that protects the robot’s display. When set to 0 degrees, the arms should point straight forward, directly in front of the robot. To check your robot’s arm movement calibration, use the arm movement commands in the Misty II REST API to set each arm to the min, max, and 0 degree positions, and observe whether your robot’s movement aligns with the behavior described in this document.