WHY BUMPERS?
Many tiny or
low-priced robots use IR sensing rather than physical bumpers. This is
appropriate for a small robot that is not traveling at a high
translational velocity since it will have time to receive and react to
the information before the robot meets the wall. Larger, speedier
robots, however, find themselves in repeated
fender-benders when relying on low-cost sensing. The few-inch range of
typical
IR's just does not allow time to apply the brakes, so to speak. Even
sonar and lasers have blind spots with no coverage.
For that
reason, as
sensing
of last recourse, bumpers need to detect when collisions have
occurred, minimize damage by absorbing some of the impact, and provide
impact position information so the robot can extract itself from
the
situation.
Pioneer 2-DX Bumper: front
PIONEER 2
BUMPERS Our new Pioneer 2 front and rear bumper pair each provide
five points of sensing, with two 100g force tactile switches and one
reading per bump panel. Each bump panel is 3.97 in x 1 in wide. Pioneer
2-DX and 2-CE bump panels are at angles around the robot. Bump panel 3
faces directly font and back. Bump panels 2 and 4 are at 18.8¡ to
bump panel 3. Bump panels 1 and 5 are at 52.0¡ to bump panel 3.
The three center bump panels (2-4) on Pioneer 2-AT are in a straight
line across the front and back of the robot. Bump panels 1 and 5 are at
10¡ angles to the robot. Bumpers connect to the user I/O bus on
the microcontroller and are integrated into P2OS and Saphira.
KEY
FEATURES
- Front and
rear bumpers available for all models (front bumper is not compatible
with gripper)
- Five bump
panels per bumper
- Two 100 g pressure sensors on each bump panel
for thorough coverage
- Plugs into addressable user I/O bus, integrated
into P2OS / Saphira software
- Mounts in either direction to allow flat
surface or higher clearance bump sensing
Pioneer 2-AT Bumper: front & rear
BUMPER
SPECIFICATIONS
CONSTRUCTION: anodized, CNC
fabricated and / or paintes
SENSING: 5 bump panels per
bumper, each with 2 100g pressure sensors,
each panel read
as a single input
CONFIGURATION: Pioneer 2-AT
- angle to front of the robot: -10¡, -0¡,
0¡,+0¡,+10¡
P2-DX and P2-CE
- angle to front of the robot: -52¡, -19¡,
0¡,+19¡,+52¡
DIMENSIONS: Bump Panels: each 4.0 " x 1.0 " x
.4 " (10.0 cm x 2.5 cm x 1.0 cm)
Bumpers (2-AT):
Front & Rear - 19.9 " x 18.3 " (50.6cm x 45.8cm)
Bumpers (2-DX
& 2-CE): Front - 5.9 " x 16.9 " (14.9cm x 43.0cm)
Rear - 6.6 " x
15.4 " (6.6cm x 39.0cm)
CLEARANCE: Pioneer 2-AT: high mount 3.4"
(8.1cm); low mount 2.4" (6.0cm)
Pioneer 2-DX /
2-CE: high mount 2.5" (6.2cm); low mount 1.5" (3.7cm)
Pioneer 2-AT Bumper: rear
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