|
FEATURE
|
ROBOT BASE
|
|
|
Seekur®
|
PowerBotTM
|
Patrolbot®
|
PeopleBotTM
|
Pioneer 3-DX
|
Pioneer 3-AT
|
AmigoBot
TM
|
|
PHYSICAL
|
|
|
Length
|
1.4m
|
85cm
|
59cm
|
47cm
|
44.5cm
(44)
|
50cm
|
33cm
|
|
Width
|
1.3m
|
63cm
|
48cm
|
38cm
|
40.0cm
(38)
|
49cm
|
28cm
|
|
Height
(body)
|
1.1m
|
47cm
|
38cm
(52 w/ dome)
|
112cm
|
24.5cm
(22)
|
26cm
|
15cm
|
|
Body
clearance
|
180mm;
designed to be driven on plowed roads/packed snow.
|
6.7cm
|
5cm
|
3.5cm
|
6.5cm
(6)
|
8cm
|
3cm
|
|
Weight
(with min. battery capacity)
|
350kg unladen, (at full battery capacity)
|
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
|
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.
|
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
|
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
|
|
POWER
|
|
|
Battery
|
24V
200Ah NiCad
|
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
|
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
|
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
|
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
|
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.
|
Yes
|
Yes
|
Yes
|
Yes
|
No
|
No
|
|
MOBILITY
|
|
|
Drive
|
4
wheel drive, 50mm suspension
|
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 (tread options)
|
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.
|
~400mm
|
27cm
|
19cm
|
19cm
|
19cm
|
21.5cm
|
10.0cm
|
|
Dr.
Wheel width
|
~200mm
|
9cm
|
5cm
|
5cm
|
5cm
|
8.8cm
|
2.5cm
|
|
Steering
|
4
wheel, 360 degree steering, allowing for 4 wheel
symmetric
Ackermann steering or holonomic movement;
|
Differential
|
Differential
|
Differential
|
Differential
|
Skid-steer
|
Differential
|
|
Gear
ratio
|
1/38.62
|
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
|
32kg
|
22kg
|
8kg
|
6kg
|
18kg
|
0.5kg
|
|
Swing
radius
|
~83cm
|
54cm
|
29cm
|
32cm
|
32cm
|
40cm
|
27cm
|
|
Turn
radius
|
0
|
0
|
0
|
0
|
0
|
0
|
0
|
|
Translate
speed max
|
2.2m/sec
(8km/h)
|
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
|
175mm
vertical bump climbing
|
3cm
|
2cm
|
1.5cm
|
2.5cm
|
10cm
|
1.5cm
|
|
Traversable
gap max
|
N/A
|
8cm
|
3.5cm
|
5cm
|
8.9cm
|
15.2cm
|
4cm
|
|
Traversable
slope max
|
35%
grade capability unladen
|
15%
grade
|
20%
grade
|
5%
grade
|
25%
grade
|
35%
grade
|
5%
grade
|
|
Traversable
terrains
|
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
|
Optional
|
|
ACTS
Color-Track
|
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
|
Yes
|
Incl with Perf Pbot
|
Requires
onbd PC
|
Requires
onbd PC
|
AmigoSounds
|
|
Laser
Mapping & Nav.
|
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
|
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
|
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
|
15cm -
5m
|
15cm -
5m
|
15cm -
5m
|
15cm -
5m
|
15cm -
5m (opt)
|
15cm -
5m
|
|
Std.
Position encoders
|
32
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
|
