what equipment is needed to move a piano?

I plan to move a large upright piano soon, perhaps up a flight of stairs. What equipment is necessary to do this safely? I know that I could hire a piano moving company to do it, but there are some problems with this (namely the cost and the fact that I have not yet found a mover who will do it on the weekend).

We moved the piano into its current apartment up a half flight of stairs. We put some planks on the stairs and then simply pushed it up with several people helping us. In retrospect this was not the safest nor most pleasant experience I've had, and I'm wondering what needs to be done to do it correctly.

Please note that if your answer is 'hire a mover', don't bother responding. I want to know how the movers do it, and what equipment they use.

It is actually a player piano, but I can take out the mechanism (and even the hammers and lid if necessar) to reduce the weight.

Thanks for any information!

I would use ROKs that I use to move my Hammond B3 by trying to rent a set. Here is what they look like from the below webpage.
http://www.enrickco.com/home.htm