Robik
- Drive
Differential drive allows easy construction. Maximum speed 40cm/s. Wheels provide odometry information on elapsed track. - Power and Docking
Power can be seamlessly switched online from power outlet to battery by disconnecting power adapter or driving out of docking station. Driving to docking station is automated by leveraging a laser beam. Li-Ion battery capacity 5000mAh is able to drive the robot between 20-90 minutes. - Lidar
Affordable laser-radar from vacuum cleaner is used to scan 12 meters wide surrounding area at speed of 5x per second. These scans are used to create an environment map and localize itself in the map. - Computer
Electronic heart of the robot is low-power computer Jetson TK1 that sports 4 main CPU cores, 192 CUDA cores, 2GB of main memory and 16GB of solid state memory. - Controllers
Low level controller is based on Arduino mega. It connects all sensors, motor controllers and a 32channel servo controller. Information between Arduino and computer is exchanged 180x per second. - 3D Camera
Kinect 360 is used to capture video in color as well as in depth information. A point cloud of nearby environment can be constructed from the depth information. Visibility range is 60-600cm. Camera video stream can be used for object detection and recognition. - Arm
7DoF (7 moving joints) arm is using 15kg/cm hobby servos with built-in position feedback. This arm supports MoveIt! arm navigation ROS package. Gripper is capable to grasp easy objects. - Communications
Dual Wi-Fi antennas provide 802.11ac wireless communication at real speed of ~200mbit/s with access point that is enough to transfer real time flows of information to anf from the robot, i.e. video stream from the robot. Wired 1gbps connection is available when the robot is stationed. - Teleoperation
Wii controller provides enough controls to teleoperate basic movement over bluetooth connection. - Sound Output
2W stereo speakers are available to output synthetized voice or music when one feels lonely. - Motion Sensor
Use your robot as a surveillance dog. - High Power LED light
Use light to teleop in dark environment.
Main Computer
Electronic heart of the robot is low-power computer Jetson TK1 that sports 4 main CPU cores, 192 CUDA cores, 2GB of main memory and 16GB of solid state memory.
Arm
7DoF (7 moving joints) arm is using 15kg/cm hobby servos with built-in position feedback. This arm supports MoveIt! arm navigation ROS package. Gripper is capable to grasp easy objects.
Power
Power can be seamlessly switched online from power outlet to battery by disconnecting power adapter or driving out of docking station. Driving to docking station is automated by leveraging a laser beam. Li-Ion battery capacity 5000mAh is able to drive the robot between 20-90 minutes.