Datasheet

TECHNICAL SPECIFICATIONS
© Clearpath Robotics, Inc. All Rights Reserved. Clearpath Robotics, and clearpathrobotics.com are trademarks of Clearpath Robotics.
All other product and company names listed are trademarks or trade names of their respective companies. † Accessible USB and user power ports,
top mounting plate are only available in the TurtleBot 4 Standard model.
TurtleBot 4 TurtleBot 4 Lite
SIZE AND WEIGHT
EXTERNAL DIMENSIONS (LxWxH) 341 x 339 x 351 mm (13.4 x 13.3 x 13.8 in) 341 x 339 x 192 mm (13.4 x 13.3 x 7.5 in)
WEIGHT 3.9 kg (8.6 lbs) 3.3 kg (7.2 lbs)
WHEELS (Diameter) 72 mm (0.55 in)
GROUND CLEARANCE 4.5 mm (0.17 in)
SPEED AND PERFORMANCE
MAX PAYLOAD 15 kg
MAX SPEED 0.31 m/s (safe mode), 0.46 m/s (cliff sensors disabled)
MAX ROTATIONAL SPEED 1.90 rad/s
BATTERY AND POWER SYSTEM
CHEMISTRY 26 Wh Lithium Ion (14.4V nominal) Rechargable
CHARGE TIME 2.5 hrs
OPERATINGTME 2.5 - 4.0 hrs (load dependent)
USER POWER VBAT @ 300mA, 12V @TBD mA, 5V @ 500mA
3.3V @ 250mA
VBAT @ 1.9A (14.4V nominal)
Low current 5V and 3.3V via Raspeberry Pi GPIO
DOCKING Base station for docked charging
SENSORS
2D LIDAR RPLIDAR-A1
0.15-12m range; 8kHz sampling rate; 360 degree angular range; 1 degree angular resolution.
CAMERA OAK-D-PRO
4K RGB auto focus camera (IMX378)
Mono stereo camera pair (OV9282)
IMU, Spatial AI processor
IR Laser Dot Projector & Illumination LED
OAK-D-LITE
4K RGB auto focus camera (IMX214)
Mono stereo camera pair (OV251)
Spatial AI processor
OTHER SENSORS 2x front bumper zones, 2x wheel encoders, 4x IR cliff sensors, 6x IR obstacle sensors, 1x downward optical flow
sensor for odometry, 1x 3D gyroscope, 1x 3D accelerometer, 1x battery level monitor
OTHER ACTUATORS 2x Drive Motors, 6x RGB LED Ring
1x Speaker, 5 Status LEDs
2 User LEDs, 128x64 OLED Display
2x Drive Motors, 6x RGB LED Ring
1x Speaker
COMPUTERS
COMPUTER Raspberry Pi 4B (4 GB)
SOFTWARE Ubuntu 20.04, ROS 2
Support Open Source
TurtleBot 4 is an open source platform and you can get the designs and software at clearpathrobotics.com/turtlebot.
You’re encouraged to try it out, extend it, or build your own. For every TurtleBot 4 shipped, a portion of the proceeds goes
to the Open Robotics for the continued support of the development, distribution, and adoption of open-source software in
robotics research and education
.