Datasheet

2. FROG Robot Features and Components

In terms of kinematics the platform is a four-wheeled differential drive, where on each side of the robot

two wheels are connected to a single motor. This type of kinematics is adequate for an uneven

outdoor (or indoor) terrain, and the robot will deal easily with small obstacles.

The following sub-chapters describe the main features and components integrated into the base

platform and upper structure, the sensors and finally the actuators. Some of this information has been

also included in the previous deliverable D1.3 and some values were updated based on new

measurements.

2.1. FROG Robot Base Platform

Robot Base Platform Main Features

• Robot Kinematics: 4-wheeled differential drive (pneumatic tires for uneven terrain)

• Weight without batteries: 39 Kg

• Weight with batteries

• When using 8 12V/17Ah lead free batteries: 87 Kg

• When using 8 12V/17Ah LiFePO4 batteries: 56 Kg

• Payload Capacity: 30 Kg

• Height: 1.3m

• Maximum Velocity: 1.6 m/s (low-level software limited to 1.0 m/s)

• Acceleration: 1 m/s

(low-level programmed)

• Emergency Stop Acceleration: 3.3 m/s

(low-level programmed)

• Batteries Autonomy: 4 to 6 hours

• Installed components sensors and actuators:

• Sensor&Management Boards

• Motor Control Board

• Power Switch Board

• Charger Board

• Two Hokuyo UTM-30LX lasers

• Ring of bumpers (with 12 switches)

• 4 Temperature sensors (two to measure the motors temperature and two to measure

the drivers temperature)

• 1 Temperature and humidity sensor to measure the environment conditions

• 1 Digital Rain sensor

FROG – FP7 STREP nr. 288235

Deliverable: D1.4 – Platform User and Developer Manual 6