Datasheet

1. Summary
This deliverable is the robot platform user and developer manual. It explains the way the different
components are integrated, where they are connected and how they communicate.
The structure of the document is as follows:
• FROG Robot Features and Components - This chapter describes the main robot features that
have been specified in the previous Work Package deliverables. It gives an overview of the
different components that have been integrated, their function, placement on the robot, and
internet links for the component manuals.
• FROG Robot Architecture - The adopted power and communication architecture is explained.
The chapter begins with a description of how the robot components will be powered. A table
with the component energy distribution per battery shows an even distribution of the battery
power consumption. The last two sub-chapters are dedicated to explaining the low-level
communication, showing the way the developed electronics communicate with each sensor
and actuator, and the high-level communication between the onboard computers, interaction
and navigation sensors and actuators.
• FROG Robot Electronics - All of the electronics that have been projected, designed, produced
and programmed within the project are explained.
• Low-level Control Loops - The electronics control boards that are controlling the motors and
onboard power all run low-level control loops and interrupt driven events that control the
system and also check for faults in the normal operation of the platform. This chapter explains
the low-level software running inside the microcontrollers that control the FROG base
platform.
• Safety - During the first review meeting, issues of human-robot interaction safety were raised.
This chapter shows the safety procedures that have been implemented.
• Working with the Robot - This is a manual with simple instructions for running the robot.
• FROG Integration Meetings - In the first half of the second year two integration meetings were
conducted, one in the Royal Alcázar in Seville and one the Lisbon Zoo. The chapter describes
the work of each partner during those two events.
• Tests and Results - This chapter describes some of the tests performed with the robot and
their results.
Additionally to the manual, three technical annexes have been added:
• Board Connections - This is the manual of connections between each board connector and
each cable inside the robot.
• Board Controllers Software Protocol - This section explains the low-level control protocol
implemented between the onboard navigation computer and the Sensor&Management and
Motor Board and also between the interaction computer and the Interaction Board.
• Robot Platform CAD Measurements - This section shows CAD representations of the
dimensions of the robot.
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 5