Datasheet

• Function: obstacle avoidance (3D perception of ramps, slopes, etc)
• Position on Robot Platform: frontal, tilted or vertical orientation
• Rear 2D laser rangefinder: Hokuyo’s UTM-30LX
• Function: mapping, localization and obstacle avoidance
• Position on Robot Platform: on the rear and horizontal
• Sonar Sensors: SRM400
• Function: obstacle detection (e.g.: glass wall or objects)
• Position on Robot Platform: ring of sonars around the robot
2.3.3. Interaction Sensors
The front vision stand-alone camera is used to sense visual user feedback for natural user interaction.
There will also be the following sensors.
• Microphone array and 3D: Microsoft Kinect
• Function: user sound feedback for natural user interaction
• Position on Robot Platform: turned to the users
• Sunlight Readable 17” Touchscreen
• Function: user feedback on specific contents
• Position on Robot Platform: turned to the user
2.3.4. Environment Sensors
The environment sensors are used to detect variations in the weather conditions that can affect the
normal operation of the robot. These sensors are: temperature sensor; humidity sensor; and rain
sensor.
2.3.5. Low-level Safety Sensors
The fundamental sensors for low-level safety are the sonar sensors, internal temperature sensors,
motor current sensing and the bumper ring switches.
2.4. Actuators
The robot will be equipped with locomotion and “interaction” actuators.
For locomotion the robot uses two motors to actuate the 4 wheels of the robot. Each motor will
actuate one pair of wheels on one side of the robot (differential drive).
For user interaction there is one touchscreen, stereo speakers, an image projector and a laser pointer
actuated by a small 3DOF arm.
2.4.1. Locomotion Motors
The robot locomotion uses two motors to drive the four-wheeled differential drive platform. Each side
of the robot has two wheels that are connected to a single motor.
• Two Maxon RE 50 200W 24V motor with a Maxon GP 62A 19:1 Gearbox and encoder HEDS
5540 with 500 pulses
• Function: provide a locomotion system to the robot
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 10