Doris

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.
Doris robot

Doris cartoon

Base Components

  • 4 Rear sonar
  • 1 SICK LMS200
  • 10 bumper panels
  • Twin motor encoders
  • Gyroscopic encoder correction
  • Batteries