|
FEATURE
|
ROBOT BASE
|
|
|
Seekur®
|
SeekurJr
|
PowerBotTM
|
Patrolbot®
|
PeopleBotTM
|
Pioneer 3-DX
|
Pioneer 3-AT
|
AmigoBot
TM
|
|
PHYSICAL
|
|
|
Length
|
140cm
|
105cm
|
85cm
|
59cm
|
47cm
|
44.5cm
(44)
|
50cm
|
33cm
|
|
Width
|
130cm
|
84cm |
63cm
|
48cm
|
38cm
|
40.0cm
(38)
|
49cm
|
28cm
|
|
Height
(body)
|
110cm
|
50cm |
47cm
|
38cm
(52 w/ dome)
|
112cm
|
24.5cm
(22)
|
26cm
|
15cm
|
|
Body
clearance
|
18cm;
designed to be driven on plowed roads/packed snow.
|
10cm
|
6.7cm
|
5cm
|
3.5cm
|
6.5cm
(6)
|
8cm
|
3cm
|
|
Weight
(with min. battery capacity)
|
350kg unladen, (at full battery capacity)
|
80kg |
120kg
|
46kg
|
12kg
|
9kg
|
12kg
|
3.6kg
|
|
Payload
of base platform with included battery
(other drive ratios
available on large orders)
|
70kg flat
50kg @ 20% grade
|
Tile 50kg
Grass 50kg
Asphalt 35kg |
100kg
flat
60kg 8% grade
|
40kg
flat
25kg @ 13% grade
|
10kg
flat
|
23kg
flat
14kg @ 13% grade
|
Painted
concrete: 20kg
Asphalt: 7kg
Grass / dirt: 13.5kg
|
2kg
flat
1kg 6% grade
|
|
CONSTRUCTION
|
|
Body
|
Lightweight
aluminum unibody optimized for protection
from the weather;
resistant to
damage from rain, snow, salted roads etc.; -4/+122F
operating environment (-20C to 50C). Equipped
with 4 tow hooks. White reflective cover.
|
Lightweight
aluminum unibody optimized for protection
from the weather;
resistant to
damage from rain, snow, salted roads etc.; +23/+95F
operating environment (-5C to 35C).
|
2.3mm
CNC fabricated,
aluminum
shell
|
2.3mm
CNC fabricated,
painted
aluminum
|
1.6mm
CNC fabricated,
painted
aluminum
|
1.6mm
CNC fabricated,
painted
aluminum
|
1.6mm
CNC fabricated,
painted
aluminum
|
CNC
fabricated aluminum body, high-impact plastic shell
|
|
Battery Access
|
N/A
|
Center Hatch |
Slide-out
tray
|
Screw
plate
|
Hinged,
latched access door
|
Hinged,
latched access door
|
Hinged,
latched access door
|
Removable
screws
|
|
Assembly
|
Allen
hex screws
|
Allen hex screws |
Allen
hex screws
|
Allen
hex screws
|
Allen
hex screws
|
Allen
hex screws
|
Allen
hex screws
|
Allen
hex screws
|
|
POWER
|
|
Battery
|
24V
200Ah NiCad
|
NiMH Pack 1, 2 or 3 |
24V
sealed, lead-acid
|
24V
sealed, lead-acid
|
12V
sealed, lead-acid
|
12V
sealed, lead-acid
|
12V
sealed, lead-acid
|
12V
sealed, lead-acid
|
|
Charge
|
4800
Watt-hr
|
240-720 watt-hr |
2160
watt-hr
|
375
watt-hr
|
252
watt-hr
|
252
watt-hr
|
252
watt-hr
|
26
watt-hr
|
|
Continuours
run
time, base platform
|
7
hours
|
3-6hrs with 3 batts |
4.5 hrs
|
3.5hrs
|
12-18
hrs
|
18-24
hrs
|
4-8 hrs
|
2+ hrs
|
|
Recharge
time, standard
charger
|
8
hours for full charge, less for opportunity charge
|
4-6 hrs |
2.5 hrs
|
3.2 hrs
|
12 hrs
|
12 hrs
|
12 hrs
|
6-8 hrs
|
|
Recharge
time, 1 high-capacity
charger
|
1 hour
opportunity charge
|
N/A |
NA
|
NA
|
2.4 hrs
|
2.4 hrs
|
2.4 hrs
|
2 hrs
|
|
Docking
station available
|
Provision
for auto-dock and charge station in 2008.
|
N/A |
Yes
|
Yes
|
Yes
|
Yes
|
No
|
No
|
|
MOBILITY
|
|
Drive
|
4
wheel drive, 50mm suspension
|
4 wheel |
2-wheel
drive, plus 2 rear balancing casters
|
2-wheel
drive, plus 2 rear balancing casters
|
2-wheel
drive, plus
rear
balancing caster
|
2-wheel
drive, plus
rear
balancing caster
|
4-wheel
drive
|
2-wheel
drive, plus
rear
balancing caster
|
|
Wheel
composition
|
Pneumatic
rubber tire
|
Pneumatic
rubber tire |
Pneumatic
drive wheels and 19cm casters
|
Foam
filled non-marking rubber, hard casters
|
Foam
filled nylon, hard casters
|
Foam
filled nylon, hard casters
|
Pneumatic
nylon,
chevron
tread
|
Solid
rubber drive wheels,
hard
caster
|
|
Dr.
Wheel diam.
|
40cm
|
40cm |
27cm
|
19cm
|
19cm
|
19cm
|
21.5cm
|
10.0cm
|
|
Dr.
Wheel width
|
20cm
|
20cm |
9cm
|
5cm
|
5cm
|
5cm
|
8.8cm
|
2.5cm
|
|
Steering
|
4
wheel, 360 degree steering, allowing for 4 wheel
symmetric
Ackermann steering or holonomic movement;
|
Skid Steer |
Differential
|
Differential
|
Differential
|
Differential
|
Skid-steer
|
Differential
|
|
Gear
ratio
|
38.62:1
|
70:1 |
22.3:1
|
28.9:1
|
38.3:1
|
38.3:1
|
38.3:1
(Gearbox) 49.8:1 (Final)
|
19.5:1
|
|
Pushing
force
|
>160kg
|
>70kg |
32kg
|
22kg
|
8kg
|
6kg
|
18kg
|
0.5kg
|
|
Swing
radius
|
~83cm
|
52cm |
54cm
|
29cm
|
32cm
|
32cm
|
40cm
|
27cm
|
|
Turn
radius
|
0
|
0 |
0
|
0
|
0
|
0
|
0
|
0
|
|
Translate
speed max
|
2.2m/sec
(8km/h)
|
1.2m/sec |
4.8mph;
7.6 kph; 2.1m/sec
|
1.7
m/sec
|
.8
m/sec
|
1.2
m/sec
|
1.2
m/sec
|
1+
m/sec
|
|
Traversable
step max
|
17cm
vertical bump climbing
|
12cm + |
3cm
|
2cm
|
1.5cm
|
2.5cm
|
10cm
|
1.5cm
|
|
Traversable
gap max
|
N/A
|
unknown |
8cm
|
3.5cm
|
5cm
|
8.9cm
|
15.2cm
|
4cm
|
|
Traversable
slope max
|
35%
grade capability unladen
|
60%+ (max tested) |
15%
grade
|
20%
grade
|
5%
grade
|
25%
grade
|
35%
grade
|
5%
grade
|
|
Traversable
terrains
|
Indoor
and outdoor
|
Indoor and outdoor |
Wheelchair
accessible
|
Wheelchair
accessible
|
Floor,
carpet edges, sills
|
Wheelchair
accessible
|
Asphalt,
sand, dirt -- not carpet!
|
Floor,
carpet edges, sills
|
|
SOFTWARE
|
|
ARIA
Robotics API
|
Yes
|
Yes |
Yes
|
Yes
|
Yes
|
Yes
|
Yes
|
Optional
|
|
ACTS
Color-Track
|
Requires
onbd PC
|
Requires
onbd PC |
Requires
onbd PC
|
Requires
camera
|
Requires
onbd PC
|
Requires
onbd PC
|
Requires
onbd PC
|
Req. subnotebook
|
|
Festival/Sphinx
|
Requires
onbd PC
|
Requires
onbd PC |
Requires
onbd PC
|
Yes
|
Incl with Perf Pbot
|
Requires
onbd PC
|
Requires
onbd PC
|
AmigoSounds
|
|
Laser
Mapping & Nav.
|
Optional,
with MobileEyes & MobilePlanner
|
Optional,
with MobileEyes & MobilePlanner |
Requires
laser
|
Yes
|
Requires
laser
|
Requires
laser
|
Requires
laser
|
No
|
|
SENSING
& MANIPULATION (not
requiring onboard computing)
|
|
Front
sonar ring
|
N/A
|
N/A |
14
included
1 each
side
12
forward@ 10° intervals
|
8
included 1 each side 10°, 30° and 55° intervals
|
16
included
1 each
side
6
forward, top and bottom@ 15° intervals
|
8
included
1 each
side
6
forward @ 15° intervals
|
8
optional
1 each
side
6
forward @ 15° intervals
|
8
included:
4
front, 2 side, 2 rear
|
|
Rear
sonar ring
|
N/A
|
N/A |
14
included
1 each
side
12
forward@ 10° intervals
|
8
included 1 each side 10°, 30° and 55° intervals
|
8
included
1 each
side
6 rear
@ 15° intervals lower level
|
8
optional
1 each
side
6 rear
@ 15° intervals
|
8
optional
1 each
side
6 rear
@ 15° intervals
|
2 rear
sonar included
|
|
Sonar
range
|
N/A
|
N/A |
15cm -
5m
|
15cm -
5m
|
15cm -
5m
|
15cm -
5m
|
15cm -
5m (opt)
|
15cm -
5m
|
|
Std.
Position encoders
|
32
Tick Encoders
|
4096 tick encoders |
1024
tick encoders
|
1000
tick encoders
|
500
tick encoders
|
500
tick encoders
|
500
tick encoders
|
500
tick encoders
|
|
Surveillance
option
|
Yes
|
Yes |
Yes
|
Yes
|
Yes
|
Yes
|
Yes
|
Yes
|
|
IR
Table Sensors
|
No
|
No |
No
|
No
|
Two
50mm - 1000 mm included
|
No
|
No
|
No
|
|
Compass
option
|
Use dGPS
|
Use dGPS |
Yes
|
No
|
Yes
|
Yes
|
Yes
|
No
|
|
Arm
|
Provision
for mounting robotic arm(s)
|
Provision
for mounting robotic arm(s)
|
Yes
|
No
|
No
|
Yes
|
Yes
|
No
|
|
Gripper
option
|
N/A
|
N/A |
No
|
No
|
Yes
|
Yes
|
Yes
|
AmigoFingers
|
|
Bumper
option
|
Standard
on front, rear, sides, and corners.
|
Standard
on front, rear and corners.
|
Included
|
Included
|
Yes
|
Yes
|
Yes
|
No
|
|
Wireless
Operation option
|
IEEE
802.11b/g or 900 MHz
|
IEEE
802.11b/g or 900 MHz
|
IEEE 802.11b
|
IEEE 802.11b
|
IEEE 802.11b
|
IEEE 802.11b
|
IEEE 802.11b
|
IEEE 802.11b
(Serial
Ethernet only)
|
|
ONBOARD
COMPUTING, SENSORS & ACCESSORIES (requiring
onboard computing)
|
|
Optional
onboard computer
|
Capacity
for 5 PCs and Ethernet switch
|
Capacity for 2 PCs and Ethernet switch |
Full-sized
PC
|
Embedded
size
|
Embedded
size
|
Embedded
size
|
Embedded
size
|
None
|
|
Max.
no. cards
&
ports
|
Yes, 3
PC/104+ cards/PC
|
3
PC/104+ |
5 PCI
4
(USB1.1) 2 (USB2.0)
2
serial
|
3
PC104+
2 USB
4
serial
|
3
PC104+
2 USB
4
serial
|
3
PC104+
2 USB
4
serial
|
2
PC104+
2 USB
4
serial
|
-na-
|
|
Speaker
|
No
|
No |
Piezo
|
Piezo, plus
high-decibel speakers
|
Piezo, plus
high-decibel speakers (all but Basic PeopleBot)
|
Piezo std.,
opt. high decibel
|
Piezo
|
2-in,
8-ohm
|
|
Laser
option
|
Yes
|
Yes |
Yes
|
Yes
|
Yes
|
Yes
|
Yes
|
No
|
|
Gyro
option
|
IMU
(Inertial Measurement Unit)
|
IMU
(Inertial Measurement Unit)
|
Yes
|
Yes
|
Yes
|
Yes
|
Y es
|
No
|
|
GPS/DGPS
option
|
Yes
|
Yes |
Yes
|
No
|
Yes
|
Yes
|
Yes
|
No
|
|
Vision/ACTS
Color-
Tracking
options
|
Yes
|
Yes |
Yes
|
Yes
|
Yes
|
Yes
|
Yes
|
ACTS
Color-Tracking only
|
|
Speech/Voice
option
|
No
|
No |
Yes
|
Yes
|
Yes
|
Yes
|
Yes
|
Flash
Recorded Audio
|
|
StereoCam
Rangefinder option
|
Yes
|
Yes |
Yes
|
No
|
Yes
|
Yes
|
Yes
|
No
|
|
ELECTRONICS
|
|
Processor
|
Freescale MPC565
|
Freescale MPC565 |
Hitachi H8S
|
Hitachi
SH2 (32-bit)
|
Hitachi H8S
|
Hitachi H8S
|
Hitachi H8S
|
Hitachi H8S
|
|
Sonar
inputs
|
N/A
|
N/A |
32 max
|
32 max
|
32 max
|
16 max
|
16 max
|
8 max
|
|
Custom
I/O connections
|
(See
below)
|
(See
below)
|
8-bit
external I/O bus w/ up to 16 devices + PCI I/O boards
|
8-bit
external I/O bus w/ up to 16 devices + PC104 I/O boards
|
8-bit
external I/O bus w/ up to 16 devices + PC104 I/O boards
|
8-bit
external I/O bus w/ up to 16 devices + PC104 I/O boards
|
8-bit
external I/O bus w/ up to 16 devices + PC104 I/O boards
|
8-bit
external I/O bus w/ up to 16 devices
|
|
Analog/Digital
|
10 bit
analog inputs, digital inputs, digital outputs, PWM outputs and analog
outputs, qty and type dependent on expansion board.
|
10 bit
analog inputs, digital inputs, digital outputs, PWM outputs and analog
outputs, qty and type dependent on expansion board.
|
5 @
0-5 VDC
|
5 @
0-5 VDC
|
5 @
0-5 VDC
|
5 @
0-5 VDC
|
5 @
0-5 VDC
|
1 @
0-5 VDC
|
|
Communications
ports
|
Ethernet,
KVM, USB, Firewire, (with optional
computers and boards)
|
Ethernet,
KVM, USB, Firewire, (with optional
computers and boards)
|
3 RS-232
serial ports on microcontroller, 4 RS-232 and 1 Ethernet on optional
embedded computer
|
4
RS-232 serial ports on microcontroller, 4 RS-232 and 1 Ethernet on
optional embedded computer
|
3 RS-232
serial ports on microcontroller, 4 RS-232 and 1 Ethernet on optional
embedded computer
|
3 RS-232
serial ports on microcontroller, 4 RS-232 and 1 Ethernet on optional
embedded computer
|
3 RS-232
serial ports on microcontroller, 4 RS-232 and 1 Ethernet on optional
embedded computer
|
2
RS-232 serial on microcontroller
|
|
Wireless
Communications options
|
802.11b
access point, alternate options avail. upon
request.
|
802.11b
access point, alternate options avail. upon
request.
|
Radio
modem pair without embedded computer; Ethernet station adapter &
access point with
|
Ethernet
station adapter included
|
Ethernet
station adapter and access point included with Complete Performance
PeopleBot; others optional
|
Radio
modem pair without embedded computer; Ethernet station adapter &
access point with
|
Radio
modem pair without embedded computer; Ethernet station adapter &
access point with
|
Opt.
radio modem pair
|
|
Flash
Memory
|
1Mb
|
1Mb |
1Mb
|
128 k
|
1Mb
|
1Mb
|
1Mb
|
1 mB
|
|
Power
switches
|
Push Button
|
Push Button |
2 main;
2 auxiliary
|
1 main
|
1
main; 2 auxiliary
|
1
main; 2 auxiliary
|
1
main; 2 auxiliary
|
1 main
|
|
CONTROLS,
PORTS AND INDICATORS (side or top panels)
|
|
LCD
display
|
W/
backlight w/ multiple menus and selection switches. Indicates charge
state and connection status.
|
Optional External Late 2009 |
NA
|
Yes
|
-na-
|
-na-
|
-na-
|
-na-
|
|
Reset
pushbutton
|
No
|
No |
Warm
reboot
|
No
|
Warm
reboot
|
Warm
reboot
|
Warm
reboot
|
Warm
reboot
|
|
Function
pushbutton
|
No
|
No |
Self-test
|
Diagnostic
select
|
Self-test
|
Self-test
|
Self-test
|
Self-test
|
|
Main
power switch
|
Push Button / E-stop
|
Push Button / E-Stop |
Robot
power; 24VDC;
red
LED indicator
|
Robot
power; 24VDC;
red
LED indicator
|
Robot
power; 12VDC;
red
LED indicator
|
Robot
power; 12VDC;
red
LED indicator
|
Robot
power; 12VDC;
red
LED indicator
|
Robot
power; 12VDC;
red
LED indicator
|
|
Radio
power switch
|
No
|
No |
Radio
modem or other
12VDC
/ 5VDC option
|
NA
|
Radio
modem or other
12VDC
option
|
Radio
modem or other
12VDC
option
|
Radio
modem or other
12VDC
option
|
-na-
|
|
Aux
power switch
|
5/12/24 VDC
|
5/12/24 VDC |
12VDC
/ 5VDC
|
NA
|
12VDC
|
12VDC
|
12VDC
|
-na-
|
|
Motors
pushbuttons
|
Yes,
motor disable
|
Yes,
motor disable
|
Single
enable/
disable
|
NA
|
Single
enable/
disable
|
Single
enable/
disable
|
Single
enable/
disable
|
Single
enable/
disable
|
|
Serial
comm ports
|
ARIA
PC, Customer PC
|
ARIA
PC, Customer PC
|
9-pin
RS232 with Rcv and
Xmt LED
indicators
|
NA
|
9-pin
RS232 with Rcv and
Xmt LED
indicators
|
9-pin
RS232 with Rcv and
Xmt LED
indicators
|
9-pin
RS232 with Rcv and
Xmt LED
indicators
|
RJ11
RS232 with Yellow LED indicator
|
|
Joy
drive port
|
Yes,
via CANbus
|
Yes,
via CANbus
only |
Onboard
& off
|
Onboard
& off
|
Onboard
& off
|
Off
& opt. onbd.
|
Off
& opt. onbd.
|
Offboard only
|
|
Charging
|
CAN
controlled offboard 24V charger.
|
Offboard |
24VDC
charge port & Docking
|
24VDC
charge port & Docking
|
12VDC
charge port
|
12VDC
charge port & Docking
|
12VDC
charge port
|
12VDC
charge port
|
