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THE RESEARCH VEHICLE
 
Robotic Chariot tm
  • Description
  • Components
  • Robotic Chariot Options
  • Technical Specifications

    • Robotic Chariot for Vehicle Research

    ROBOTIC CHARIOT is based on a Pride Mobility Jazzy 1120 power chair integrated with Advanced Robotic Control Systems (ARCS) including Laser Mapping & Navigation and ARIA software-compatible with all MobileRobots robots. Chosen by those requiring indoor and paved outdoor terrain capabilities, 6pmh speed and plenty of real estate for customization.  Powerful, yet easy to use; reliable, yet flexible, Robotic Chariot is a popular performer for wheelchair, transport or other vehicle research.

                • SEE VIDEO OF THE ROBOTIC CHARIOT IN ACTION!

    The Robotic Chariot includes an embedded computer, joystick/LCD or touchscreen interface, Ethernet-based communications, laser mapping and navigation, and bump sensing. The Robotic Chariot stores up to 252 watt-hours. Robotic Chariot's powerful motors and 2 drive-wheels can reach speeds of 7kph and carry a payload of up to 100 kg. The Robotic Chariot includes shaft encoders with gyroscopic correction  to compensate for radial dead reckoning errors. Options include:a second laser on a sliding pole for localization in crowded spaces. 

    The Robotic Chariot base with included ARIA and ARNL software has the ability to:

    • WANDER randomly
    • DRIVE controlled by keys or joystick
    • PLAN PATHS with gradient navigation
    • DISPLAY a map of its laser readings
    • LOCALIZE using laser
    • COMMUNICATE SENSOR & CONTROL information relating shaft encoder readings auto-corrected by gyroscope, motor controls, user I/O, and battery charge data
    • TEST ACTIVITIES QUICKLY with ARIA API  from C++ programs
    • SIMULATE BEHAVIORS OFFLINE with the simulator that accompanies each development environment
    The Robotic Chariot is an all-purpose wheeled chair, used for research and prototyping applications involving:
    • mapping
    • navigation
    • delivery
    • and other behaviors
    Robotic Chariots's are made for use indoors or outdoors; they run on carpet, floor, packed earth and paved surfaces. They can climb 15% grades with full payload. ARCS control systems (PC and other electronics) are not water-proof.
    RESNA 2003

    MobileRobots was invited by the Rehabilitative Engineering and Assistive Technology Society of North America (RESNA) to demonstrate the new chair at the 2003 New Technologies Demonstration in Atlanta, Georgia. 

    wheelchair woman


    ROBOTIC CHARIOT COMPONENTS

    Robotic Chariots provide a ready-to-use all-terrain base with:
    • nearly holonomic base
    • upholstered seat
    • 1 battery
    • 2 drive wheels
    • 2 motors with shaft encoders
    • 2 front and 2 rear casters
    • embedded PC
    • touchscreen interface
    • microcontroller
    • motor power board
    • AROS microcontroller server software
    • user I/O bus integrated into hardware and ARIA software
    • ARIA Robotics API for developers
    • ARNL localization & navigation package, including 1 laser range-finder
    • operations manual
    • recharger
    RESNA 2003

    PI Dr. William Kennedy discusses MobileRobots' research to make a reliable Independence-
    Enhancing Wheelchair for non-ambulatory persons unsuccessful with standard power chairs. 

    bill and wheelchair


    ROBOTIC CHARIOT OPTIONS


    MobileRobots Robotic Chariots provide the software to gather sensing or other data from additional lasers and other accessories and to send control commands to any motors or other effectors.C     ustom accessories plugged into user I/O bus are already integrated into ARIA through AROS packets

    MobileRobots Robotic Chariot options range from:

    • 3-D sweeping laser rangefinder 
    • wireless Ethernet
    • pan-tilt-zoom color cameras
    • stereo rangefinding cameras
    • color-tracking
    • GPS
    • compasses & tilt-position sensors
    • Power arm
    • plus ports for custom integrated I/O, sensing and other devices
      FOR MORE INFORMATION: Accessories

    TECHNICAL SPECIFICATIONS
    The rugged Pride Mobility Jazzy 1120 base with upholstered seat has been modified with two shaft encoders, ARCS electronics and control software, SICK LMS200 laser, proprietary 3-segment bumpers front and back This differential-drive platform is nearly holonomic and can rotate in place moving both wheels, or it can move wheels on one side only to form a circle of 2m radius. It can operate in reverse.

    Robotic Chariot can climb a 15% grade and sills of 9cm. On flat floor, the Robotic Chariot can move at speeds of 7 mph. It can carry payloads up to 100 kg in addition to the base and included sensing.

    A fully loaded Robotic Chariot base can run up to 3 hours on a fully charged battery. Re-charging time is 3 hours.

    Full-sized computer is place behind the seat for easy addition of up to 2 PC104+ cards. All Robotic Chariot's include a Hitachi H8s-based microcontroller. On the microcontroller, we have multiple I/O varieties. This user I/O is integrated into the packet structure, accessible through ARIA and ARNL.

    A small proprietary AROS transfers sonar readings, motor encoder information and other I/O via packets to the PC client and returns control commands. Users can run the robot from the client or design their own programs under RedHat Linux or under WIN2000 using their favorite C/C++ compiler. Our robotics development environments supply library functions to handle navigation, path planning and many other robotic tasks.

    FOR MORE INFORMATION: MobileRobots Software

    Copyright 2006, MobileRobots Inc. All rights reserved