Datasheet

Table of Contents
1. Summary................................................................................................................................................. 5
2. FROG Robot Features and Components.................................................................................................6
2.1. FROG Robot Base Platform............................................................................................................. 6
2.2. FROG Upper Structure..................................................................................................................... 7
2.3. Sensors............................................................................................................................................ 9
2.3.1. Perception Sensors ............................................................................................................... 9
2.3.2. Navigation Sensors ................................................................................................................ 9
2.3.3. Interaction Sensors .............................................................................................................. 10
2.3.4. Environment Sensors........................................................................................................... 10
2.3.5. Low-level Safety Sensors.....................................................................................................10
2.4. Actuators......................................................................................................................................... 10
2.4.1. Locomotion Motors............................................................................................................... 10
2.4.2. Interaction Actuators ............................................................................................................ 11
3. FROG Robot Architecture...................................................................................................................... 12
3.1. FROG Electronic Power Architecture.............................................................................................12
3.2. Low-level Communication Architecture...........................................................................................14
3.3. High-level Communication Architecture..........................................................................................14
4. FROG Robot Electronics....................................................................................................................... 16
4.1. Motor Controller Board................................................................................................................... 16
4.2. Sensor and Charger Board............................................................................................................. 18
4.2.1. Sensor&Management Board ...............................................................................................19
4.2.2. Power Switch Board ............................................................................................................ 19
4.2.3. Charger Board...................................................................................................................... 20
4.3. Sonar Board.................................................................................................................................... 22
4.4. Charger Docking Station................................................................................................................. 22
4.5. Joystick Wireless Controller............................................................................................................ 24
4.6. Interaction Board............................................................................................................................ 25
4.6.1. 3DOF Arm............................................................................................................................ 26
4.6.2. FROG Eyes.......................................................................................................................... 26
5. Low-level Control Loops........................................................................................................................ 28
5.1. Sensor&Management Low-level Control Loops and Interrupt Driven Events.................................28
5.1.1 Sensor&Management Low-Level Control Loop.....................................................................28
5.1.2. Sensor&Management Interrupt Driven Events.....................................................................32
5.2. Motor Board Low-level Control Loops and Interrupt Driven Events................................................32
5.2.1 Motor board Low-level Control Loop......................................................................................33
5.2.2. Motor Board Interrupt Driven Events....................................................................................35
6. Safety..................................................................................................................................................... 38
6.1. Failure Mode and Effect Analysis (FMEA)......................................................................................38
6.2. Safety Measures............................................................................................................................. 40
7. Working with the Robot.......................................................................................................................... 42
7.1. Setting up the Hardware ................................................................................................................ 42
7.2. Wireless Joystick Control................................................................................................................ 42
7.3. Shutting Down the FROG Platform................................................................................................. 43
7.4. Charging the Batteries.................................................................................................................... 43
8. FROG Integration Meetings................................................................................................................... 45
9. Tests and Results.................................................................................................................................. 46
9.1. Detected Problems and Solutions ..................................................................................................46
9.2. Analysis of Performance of Low-level Control Loops .....................................................................47
Annex A. Board Connections..................................................................................................................... 48
Annex B. Board Controllers Software Protocol..........................................................................................53