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AMIGOBOT is MobileRobots' architecture
stripped to its barest bones for affordable use in multi-robot and
classroom applications. Rangefinding is handled by six forward and two
rear sonar; shaft encoders track x,y,theta position. Differential drive
and nearly holonomic design provide good mobility over carpet edges and
small sills. Sensor, motor and power monitoring and control information
is sent in packets over a wireless or tethered RS232 serial connection
to your PC. Payload maximum is 1kg (2lbs). The AmigoBot is designed as
a closed system to discourage internal tampering rather than
encouraging extenisibility as do other MobileRobots bases. AmigoBot
includes ARIA API libraries for C++ under Linux or WIN2000/XP.
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CLASSROOM APPLICATIONS
- Chosen
by Stanford University and others for Introduction to Robotics courses
MIDDLE-SCHOOL
ROBOT COOPERATION EXPERIMENT
- Well
School middle-school team working on Robot Cooperation Experiment
- Set up robots as shown above
- Assign students to 2 teams
- Who can figure out how to get the
Hazardous Waste onto red circle without touching it with robot and
without robot entering the circle?
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RESEARCH APPLICATIONS
- Chosen
by both DARPA teams for large-scale robot collaboration research
MobileRobots Robot
Reconnaissance
Team at
SRI's Artificial Intelligence Center in Menlo Park
includes AmigoBots and Pioneer-AT's.
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AMIGOBOT
with
Serial Ethernet is the robot for someone who wants to be able to
fully operate and program a robot. With this system, you can:
- drive the robot
indoors up to 300 feet from your PC
- create maps for the
robot to navigate
- send the robot to
make deliveries, point-n-click, avoiding obstacles along the way
- see the robot's 8
sonar display
- read the robot's
action status messages
- program new behaviors
- modify demo behaviors
- make the robot talk
- download your own
sounds to the robot
AmigoBot with Serial
Ethernet includes:
- AmigoBot TM differential-drive mobile robot with 8
rangefinding sonar, twin 500-tick motor encoders, Renesas SH7144-driven
microcontroller, dual serial ports, 1Mb onboard RAM, 2 drive wheels and
motors, rear caster, speaker, long-life, rechargeable battery and
rugged molded plastic shell
- ARIA API + SONARNL
Sensor-based Localization + Navigation
- MobileSim simulator
for testing programs offboard
- MobileEyes and Mapper
Basic for map-building and robot control
- AmigoBot
Serial Ethernet
- AmigoBot TM User's Guide
- serial download cable
- charger
To run each AmigoBot
with Serial
Ethernet system you will require:
- Desktop PC, 300 MHz
or faster, with one free serial port
- WIN 2000/XP or Linux
operating system
- Hard drive with at
least 11Mb free space
- CD ROM drive
- IEEE 80211b Ethernet
access point (on your hub) or peer-to-peer station adapter
AMIGOBOT
with
Tether is the low-cost option for someone who can't yet afford
wireless serial ethernet. With the tethered robot, you can:
- drive the robot
indoors within 15 feet of your PC
- create small area
maps for the robot to navigate
- send the robot to new
positions, avoiding obstacles along the way
- see the robot's 8
sonar display
- read the robot's
action status messages
- program new behaviors
- modify demo behaviors
- make the robot talk
- download your own
sounds to the robot
AmigoBot with Tether includes:
- AmigoBot
differential-drive mobile robot with 8
rangefinding sonar, twin 500-tick motor encoders, Renesas SH7144-driven
microcontroller, dual serial ports, 1Mb onboard RAM, 2 drive wheels and
motors, rear caster, speaker, long-life, rechargeable battery and
rugged molded plastic shell
- ARIA API +
Sensor-based Localization + Navigation
- MobileSim simulator
for testing programs offboard
- MobileEyes and Mapper
Basic for map-building and robot control
- AmigoBot User's Guide
- serial tether
- charger
To run each AmigoBot with
Tether system you will require:
- Desktop PC, 300 MHz
or faster, with one free serial port
- WIN 2000/XP or Linux
operating system
- Hard drive with at
least 11Mb free space
- CD ROM drive
OPTIONAL PAIR
AMIGOFINGERS are compatible with any AmigoBot 
- Passive grasp holds
tennis ball or other object during forward motion
- Passive release of
object during reverse motion
- Manual screw mounts
on each finger allow varied grasp widths
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TECHNICAL SPECIFICATIONS
The
high-impact plastic AmigoBot shell covers an aluminum encased
differential drive system with twin motors and two shaft encoders. The
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 27cm
radius. It can operate in reverse.
AmigoBot
can climb a 5% grade and sills of 1.5 cm. On flat floor, the AmigoBot
can move at speeds of 1 meter per second. It can carry payloads up to
1 kg in addition to the base and included sensing.
A
fully loaded AmigoBot base can run up to 2 hours on its fully charged
12 V sealed lead-acid battery. Re-charging time is 6 hours.
All AmigoBots include a Renesas SH7144-based
microcontroller. On the microcontroller,
AmigoBot has an 8-bit
external I/O bus for up to 16 devices; there are 2 serial ports, one of
which is available for a custom accessory. The other port is used for
communicating via tether or serial ethernet to a PC.
A
small proprietary ARCOS 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: Software
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