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The PeopleBot's 47cm x 38cm x 112cm body is made of
aluminum. PeopleBot has two 19 cm dia
drive wheels with 36:1 gear ratios have plenty of power to carry a 13kg
payload. The 500-tick encoders provide <1% dead reckoning error,
corrected with gyroscope. These differential drive platforms are highly
holonomic and can rotate
in place moving both wheels, or can swing around a stationery wheel in
a circle of 32cm radius. A rear caster balances the robots.
PeopleBot
can climb a 5% grade and sills of 1.5cm. On flat floor, the PeopleBot
can move safely at speeds of .8 mps; faster speeds are possible, but
not recommended. At slower speeds it can carry payloads up to 13 kg.
Payloads include additional batteries and all accessories and must be
balanced appropriately for effective operation of the robot.
In addition
to motor encoders, all PeopleBot robots include 24 ultrasonic
transducer (range-finding sonar) sensors arranged to provide 360-degree
forward coverage. The sonar read ranges from 15cm to approximately 7m.
Some robots also include rear sonar.
PeopleBot
robot's hinged battery door makes hot-swapping batteries simple, though
a bare PeopleBot base can run 18-24 hours on three fully charged
batteries. With a high-capacity charger, re-charging time is only 2.4
hours.
The
PeopleBot robot's easily removable nose allows quick access to any
optional embedded computer for addition of up to 3 PC104+ cards.
PeopleBot includes a 32-bit RISC controller. On the
microcontroller, we have 8 digin and 8 digout plus 1 dedicated A/D port; 4 digin can be reconfigured as A/D in; 4 digout can be reconfigured to PWM outputs. This
user I/O is integrated into the packet structure, accessible through
ARIA.
PeopleBot
also includes fixed IR with range of 50mm to 1000 mm to sense the
underside of tables. It points up and slightly forward from the nose of
the robot base. The IR beam is collimated using special lensing to allow reliable long-range reflective
sensing.
Touchscreen PeopleBot
includes a vertical 1dof beam device with horizontal 1dof gripper. The
gripper has a maximum 12 cm (4.75 in) spread between fingers. The
combined beam/gripper mechanism has a payload capacity of 1 kg (2.2
lbs.).
 FOR MORE
INFORMATION: Cross-Platform
Specifications Table
A small
proprietary ARCOS transfers sonar readings, motor encoder information
and other I/O via packets to the PC client and returns control
commands. ARIA supplies the developer interface, for use under under Debian Linux
or under Windows 2000 using their favorite C/C++ compiler. ARNL offers
mapping, localization and navigation.
FOR MORE
INFORMATION: Software
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