One method I prefer is to use a small stool and place it right near the back of the machine.
Sit on the stool with your legs under the pin. Not sure if it'll work for everyone, but if you lift your legs (tip toes on the ground), you may be able to support the pin on your legs. You can now remove the pin legs yourself.
Tricky part is now standing up, sliding your hands around the side, then squatting down, lowering the machine to the ground but it's very doable.

Last tip: my brother showed me how easy it is to slide a pin across the floor with a folded towel underneath it. WAY easier to go this route to get the pin to a space with enough room for a dolly/whatever.