Doris
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Doris is the new prototype of autonomous mobile robot integration in society replacing to Urbano. It is based in a Patrolbot platform.
PatrolBot has a 59cm x 48cm x 38cm, CNC aluminum body. Its 19cm dia tires handle nearly any indoor surface. The two motor shafts hold 1000-tick encoders. This differential drive platform is holonomic so it can turn in place. Moving wheels on one side only, it forms a circle of 29 cm radius.
PatrolBot can climb an 20% grade and sills of 2.5cm. On flat surfaces, PatrolBot can move at speeds of 2mps. It can carry payloads of 25kg on an 8:1 ramp, 40kg on flat floors; payloads must be balanced appropriately for effective operation of this or any robot. PatrolBots can travel through shallow puddles.
PatrolrBot with PC and a single laser can operate approximately 3.5 hours on a fully charged battery. Recharge to run-time is less than 1:1.
PatrolBot is a closed system, not designed for user access. Inside are an Hitachi SH-based 32-bit RISC microcontroller, sonar boards and other electronics. Each robot has 16 sonar and two 1000-tick motor encoders. Digital I/O, A/D, RS232, USB and firewire interfaces are all possible within the system and may be integrated through ARIA.
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Doris robot
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Doris cartoon
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Base Components
- 4 Rear sonar
- 1 SICK LMS200
- 10 bumper panels
- Twin motor encoders
- Gyroscopic encoder correction
- Batteries
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Nemo
P3AT is a 4-wheel drive all-terrain pioneer robot from ActivMedia Robotics, with a high payload. The turn is based in sliding. It affects the odometry data, mainly the estimate for the orientation.
P3AT is a full aluminum platform with a control panel in the upper side to access its microcontroller (Renesas SH2). Also, it has a RS-232 serial port to communicate with the server software. The microcontroller runs an ARCOS operating system for the low-control of the engines, the sensor data readings and the battery level. Renesas SH2 operates at 44 MHz and it presents 32KB of RAM memory and 128KB of flash memory. |
Nemo cartoon
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Nemo Robot
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The specification is as follows:
- Dimensions: Length x Width x Height = 50 cm x 49 cm x 26 cm
- Wheel: Diameter x Width = 22 cm x 7.5 cm
- Weight: 14 kg
- Payload: 40 kg
- Maximum Drive Speed: 700 mm/s
- Maximum Rotating Speed: 140 deg/s
In summary, the P3AT is equipped with:
- Sick Laser Scanner LMS200
- Power Cube PW70
- Odometry sensor
- PTZ Camera (Coming soon)
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Sick Laser LMS200
| It uses an infrared laser beam of class I (harmless for the human eye) to obtain distance accurate measurements fast. The beams are over 180º and they are independent of the objects' reflectance. |
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PowerCube PW70
| The PowerCube W70 wrist by AmtecRobotics is used to pitch the 2D laser sensor modifing the tilt angle and get a 3D operation range. It is also possible to vary the pan angle. It is supplied with 24 V and its is connected to the control device by a serial interface as RS232, CAN-bus, Prodfibus-DP. The strong and light design provides great speed (356/s for tilt and 248/s for pan) |
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Urbano
Urbano was the new prototype of autonomous mobile robot integration in society replacing to Blacky. It is a B21r platform made by iRobot. Motherboard is a Pentium PC booting a Linux operating system. The second computer is PC Pentium with Windows. It is provided with a SICK LMS200 laser sensor for localization. In addition, It also have 24 ultrasonic and infrared sensors and an Ethernet wireless radio.
Urbano has a speech synthesis and recognition to interact with citizens getting a semantic understanding of the dialogue. The conscience model allow that its state of mind change in relation with used voice tone and his own feelings. The speech synthesis and recognition module has been developed at the UPM. His artificial face is capable to show their emotions according improving integration in society. |
URBANO robot guiding a tour inside the museum The City of Arts and Science |
URBANO robot guiding a tour inside the museum The City of Arts and Science
General
A general view about our resources
Blacky
This is the first robot developed by the Intelligent Gropu at Universidad Politécnica de Madrid. The first innovation is the navigation system. The reserarch was led to avoid dynamic obstacle in absolutely unpredictible enviroments. Blacky was provided with a 2D-laser and a sonar sensor to plan the trajectories.
In additon, it has a simple voice recognition system that allow operators to command the robot and a voice sysnthesis system to report the fair to the museum visitors. |
Blacky the robot at Madrid for Science Fair
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