Datasheet

each, depending on the model, which means in the worst case the robot will carry about 48
Kg of batteries just to power all the components. After working in the Royal Alcázar and in the
Lisbon Zoo the group understand that the robot has the need to reduce the weight of the
robot. The LiFePO4 batteries, with the PCM protection circuit, can be the solution. They have
the same size, same power, and same voltage and should be charged in the same way that
we are powering the lead acid batteries. The batteries weigh 2.1 Kg that is ⅓ of weight of the
lead acid batteries. That means that if we change all the batteries we can reduce the total
battery weight to 17 Kg reducing the total weight by about 31 Kg. At the moment tests are
being performed to test the real capabilities of LiFePO4 batteries and also the correct tuning
of our battery charging system to comply with this new technology.
9.2. Analysis of Performance of Low-level Control Loops
Due to several big changes that are being performed in the FROG structure, weight, components and
batteries, it is not possible to present a reliable or preliminary report of robot performance. The team
will continue with the robot upgrade and as soon as possible will update deliverable D1.4 with the
performance of all the robot components.
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 47