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Recommended
Robot System Configurations
by Application

  • Research & Development
  • Industrial
  • Service
  • Competitions
  • Shows
  • Classroom

    • The configurations below are typical for each endeavor. We'll be more than happy to discuss specific configuration issues with you.


    Research Configurations
    NAVIGATION in its simplest form relies on sonar and motor encoders for navigation and sonar for avoidance of objects at a distance. These capabilities are available with ActivMedia Robotics Laser Mapping & Navigation software or in Saphira developer libraries. Lasers increase navigation reliability by a factor of 20 or more. Our Gyroscopic Correction System overcomes angular error during rotation. This is a necessity for a skid-steer P3-AT relying on motor encoders. Inertial will significantly improve the precision of other platforms as well. Some robots provide range-finding IR to sense nearby obstacles, but our robots move too fast to use them. We recommend bumpers instead to keep the robot from running over toes and other low protrusions. A Dock / Charge Station can serve up to two robots and can be added as a destination within maps for auto-docking and 24x7 operation. Outdoors, add DPGS for navigation.

    LOCALIZATION proved a daunting task for robots until the introduction of modern probability techniques. Our Laser Mapping and Navigation System, particularly with Gyroscopic Correction, can keep robots running for weeks indoors without becoming lost. Sonar-based localization is built into SRI's Saphira.  Add DGPS for outdoor localization.

    Option 1: AUTONOMOUS LASER-BASED NAVIGATION & LOCALIZATION
    • Robot Platform: PowerBot TM, PeopleBot TM , Pioneer 3-DX, Robotic Chariot or  P3-AT
    • Computing: Onboard Computer with Linux installation & CD (WIN2000 available)
    • Communication: Ethernet, optional tether for programming 
    • Required Sensing: Laser Navigation System
    • Highly Recommended: Gyroscopic Correction System (required for the P3-AT)
    • Optional Sensing: PTZ Tracking System, front and rear sonar rings, microphones
    • Accessories: Optional gripper
    • Power (Pioneer or PeopleBot TM only):Two additional batteries (one included with platform), high-capacity charger, optional charge cube with three batteries
    • Client-side Development Libraries: C++, Laser Mapping & Navigation; ARIA mid-level robot control libraries
    • Application Software: Basic Suite for built-in localization and gradient-based navigation, quick demos, real-time programming, map-building and online robot operation
    • Controller Software: proprietary ActivMedia Robot Operating System software (AROS -- included)
    • Optional Dock / Charge Station for 24X7 autonomous operation

    Option 2: SONAR- AND ENCODER-BASED  NAVIGATION & LOCALIZATION (Recommended for classrooms only)

    • Robot Platform: PowerBot TM, PeopleBot TM , Pioneer 3-DX, P3-AT, Robotic Chariot or AmigoBot TM
    • Computing: Offboard desktop, piggyback laptop or internal onboard computer with Linux installation & CD (WIN2000 available)
    • Communication: Serial Ethernet (with offboard computer only) or Standard Ethernet (with onboard computer only), optional tether for programming
    • Sensing Required: Front sonar ring, rear sonar ring
    • Highly Recommended: Gyroscopic Correction System (required for the P3-AT)
    • Sensing Options: Bumpers, compass (outdoors), optional GPS/DGPS (outdoors, with onboard computer only)
    • Accessories: PTZ Surveillance System
    • Power (Pioneer or PeopleBot TM only):Two additional batteries (one included with platform), high-capacity charger, optional charge cube with three batteries
    • Client-side Development Libraries: Saphira8+ Sonar-based Navigation & Localization ; ARIA mid-level robot control libraries, all for use with C++
    • Application Software: Basic Suite for built-in localization and gradient-based navigation, quick demos, real-time programming, map-building and online robot operation
    • Controller Software: proprietary ActivMedia Robot Operating System software (AROS -- included)

      REMOTE HANDLING AND MANIPULATION capabilities are included with some models of PeopleBot TM and can be added to any Pioneer or PowerBot TM . All Pioneer 3's have 12 volts power plus serial interfaces and digital I/O bus for device attachment of our 2 degree-of-freedom gripper or a lightweight custom arm. For experiments in intelligent remote handling, the following would be most common:

    • Robot Platform: PowerBot TM, Pioneer 3-DX or  P3-AT
    • Computing: Offboard desktop, piggyback laptop or internal onboard computer with Linux installation & CD (WIN2000 available)
    • Communication: Communication: Serial Ethernet (with offboard computer only) or Standard Ethernet (with onboard computer only), optional tether for programming
    • Sensing Options: Front sonar ring, optional rear sonar ring, optional bump ring, PTZ Surveillance / Tracking System or PTZ Surveillance / Custom Vision System
    • Accessories: (PowerBot TM) 1 or 2 6dof Arm(s) with EyeCam and gripper, (Pioneer) 5dof Arm plus gripper, or Pioneer 2dof Gripper, Joystick and Software Plug-ins
    • Power (Pioneer only): Two additional batteries (one included with platform), high-capacity charger, optional charge cube with three batteries
    • Client-side Development Libraries: Saphira8+ Sonar-based Navigation & Localization or optional Laser Mapping & Navigation; ARIA mid-level robot control libraries, all for use with C++
    • Application Software: ACTS for color-tracking (included in PTZ Tracking system)
    • Controller Software: proprietary ActivMedia Robot Operating System software (AROS -- included)
    • Optional Dock / Charge Station for 24X7 autonomous operation
    Option 2: Performance PeopleBot TM
    • All necessary accessories, software and gripper included in Complete Performance PeopleBot TM
    • Optional Laser Mapping & Navigation System and Gyroscopic Correction System for precision navigation
    • Optional Dock / Charge Station for 24X7 autonomous operation
    Option 3: AmigoBot TM
    • Any AmigoBot TM with ARIA / Saphira software and Technical manual
    • AmigoFingers passive spring-loaded fingers
    PERCEPTION research starts with a P-Series Robot or Robotic Chariot with onboard computer. Add one or more cameras, laser and microphone, analyzed with your own custom software. Researchers often choose a single type of information to analyze -- a  360 omni-cam for seeking , a single camera for shape recognition, stereo-vision and/or lasers for range finding and form recognition. An infra-red camera may be used for special situations. A microphone or two can be added for audio analysis or voice recognition. Other researchers use our robots' sensor-fusion capabilities, combining these and other sensors. We frequently add new sensors . 
     
  • PERCEPTION R&D SYSTEM
    • Robot Platform: PowerBot TM, PeopleBot TM , Pioneer 3-DX, Robotic Chariot or  P3-AT
    • Computing: Onboard Computer with Linux installation & CD (WIN2000 available)
    • Communication: Standard Ethernet, optional tether for programming
    • Sensing: PTZ Custom Vision System or PTZ Complete Vision / Surveillance / Tracking System,  optional front and rear sonar rings, optional audio system with microphone, speakers, 360 Omni-Cam, Pivot Laser
    • Accessories: Optional gripper
    • Power (Pioneer or PeopleBot TM only):Two additional batteries (one included with platform), high-capacity charger, optional charge cube with three batteries
    • Client-side Development Libraries: Saphira8+ Sonar-based Navigation & Localization or optional Laser Mapping & Navigation; ARIA mid-level robot control libraries, all for use with C++
    • Application Software: ACTS for color-tracking (included in PTZ Tracking system)
    • Controller Software: proprietary ActivMedia Robot Operating System software (AROS -- included)
    RECONNAISSANCE The All-Terrain AT
    Reconnaissance systems usually rely heavily on communication among robot team units; sensing may vary on individual robots.
    • Robot Platform: PowerBot TM, PeopleBot TM , Pioneer 3-DX,  P3-AT, Robotic Chariot or AmigoBOT TM
    • Computing: Onboard Computer with Linux installation & CD (WIN2000 available) (except Amigo BOT, which uses offboard PC, Linux or WIN2000)
    • Communication: One robot-side Ethernet modem per robot and one hub access-point modem per team of up to 15 robots (depending upon bandwidth needed)
    • Sensing: PTZ Surveillance System, compass, front sonar ring and optional rear sonar ring, bumpers, laser and GPS/DGPS, optional microphone
    • Accessories: Optional gripper, sound card and speakers
    • Power (Pioneer or PeopleBot TM only):Two additional batteries (one included with platform), high-capacity charger, optional charge cube with three batteries
    • Client-side Development Libraries: Saphira8+ Sonar-based Navigation & Localization or optional Laser Mapping & Navigation; ARIA mid-level robot control libraries, all for use with C++
    • Application Software: Basic Suite for built-in localization and gradient-based navigation, quick demos, real-time programming, map-building and online robot operation, ACTS for color-tracking (included in PTZ Tracking system)
    • Controller Software: proprietary ActivMedia Robot Operating System software (AROS -- included)
    MULTI-ROBOT COLLABORATIVE TEAMS
    To add collaborative capabilties to any PowerBotTM , PeopleBotTM , Pioneer 3-DX, Robotic Chariot or  P3-AT, we recommend the following options:
    • Computing: Onboard Computer with Linux installation & CD (WIN2000 available)
    • Communications: One Ethernet robot-side modem per robot and one Ethernet access-point modem per team of up to 15 robots (depending upon bandwidth needed)
    • Power (Pioneer or PeopleBot TM only): Two additional batteries (one included with platform) per platform, plus one high-capacity charger per robot and one charge cube for every three robots
    • Client-side Development Libraries: Saphira8+ Sonar-based Navigation & Localization or optional Laser Mapping & Navigation; ARIA mid-level robot control libraries, all for use with C++
    • Application Software: ACTS for color-tracking (included in PTZ Tracking system)
    • Controller Software: proprietary ActivMedia Robot Operating System software (AROS -- included)
    To use AmigoBot TM for multi-robot cooperation, we recommend:
    • Minumum: AmigoBot TM with Serial Ethernet
    • Optional  AmigoFingers
    • ARIA/Saphira Software and Technical Manual


    The Agile PowerBot(tm)

    Industrial Configurations
    NON-MANIPULATED DELIVERY & COLLECTION routes can be created in Laser Suite Pro software or custom delivery systems designed using our Laser Mapping & Navigation developer libraries, used under C++. For delivery applications, the following hardware would be most common:
    • Robot Platform: PowerBot TM, PeopleBot TM , Pioneer 3-DX or  P3-AT
    • Computing: Internal onboard computer with Linux installation & CD (WIN2000 available)
    • Communication: Ethernet or tether
    • Sensing: Laser Mapping & Navigation System, Inertial Correction System for uneven or slippery terrain, front sonar ring, rear sonar ring, bumpers, PTZ Surveillance System,
    • Power (Pioneer or PeopleBot TM only): Two additional batteries (one included with platform), high-capacity charger, optional charge cube with three batteries, custom docking options
    • Client-side Development Libraries: C++, Laser Mapping & Navigation; ARIA mid-level robot control libraries
    • Application Software: Laser Suite Pro for route building, map-building, demos and online robot operation
    • Controller Software: proprietary ActivMedia Robot Operating System software (AROS -- included)
    MANIPULATED DELIVERY & COLLECTION capabilities can be added to any PowerBot TM .  PowerBot TM with PowerArm and EyeCam can carry up to 2 kg (4.5 lbs) and set objects from table to floor. For delivery applications, the following would be most common:

    PowerBot TM

    • Robot Platform: PowerBot TM with PowerArm and EyeCam
    • Computing: Internal onboard computer with Linux installation & CD (WIN2000 available)
    • Communication: Ethernet or tether
    • Sensing: Laser Mapping & Navigation System, Inertial Correction System for uneven or slippery terrain, front sonar ring, rear sonar ring, bumpers, PTZ Surveillance System,
    • Power : Two Batteries included, custom docking options extra
    • Client-side Development Libraries: C++, Laser Mapping & Navigation; ARIA mid-level robot control libraries
    • Application Software: Laser Suite Pro for route building, map-building, demos and online robot operation
    • Controller Software: proprietary ActivMedia Robot Operating System software (AROS -- included)
    INSPECTION & SURVEILLANCE is a common use of Pioneer robots with our PTZ (Pan-Tilt-Zoom) Surveillance System. A robot's-eye-view is sent via wireless AV transmitter receiver to a remote viewing station. Add an optional microphone for remote audio feed.
    • Robot Platform: PowerBot TM, PeopleBot TM , Pioneer 3-DX,  P3-AT or AmigoBot TM
    • Computing: Offboard desktop, piggyback laptop or internal onboard computer with Linux installation & CD (WIN2000 available)
    • Communication: Radio modem pair (with offboard computer only) or Ethernet (with onboard computer only), optional tether for programming
    • Sensing: Front and rear sonar ring, optional bumpers
    • Accessories: PTZ Surveillance System including wireless AV transmitter-receiver and PCI framegrabber for remote viewing station; optional microphone; optional sound card and speaker for sound / speech output
    • Power (Pioneer or PeopleBot TM only): Two additional batteries (one included with platform), high-capacity charger, optional charge cube with three batteries
    • Client-side Development Libraries: C / C++ Compatible Pioneer Software Libraries including SRI's Saphira (with built-in obstacle avoidance, sensor fusion, extensive mapping, path planning behaviors and other navigational behaviors and tasks); ARIA mid-level robot control libraries
    • Application Software:  Demos and map editing software included,
    • Controller Software: proprietary ActivMedia Robot Operating System software (AROS -- included)
    PeopleBot(tm) waits table.
      Service Configurations
    GUIDES, WAITERS & RECEPTIONISTS are popular additions to museum exhibits, trade shows, corporate functions and entertainment facilities. Typically visual cues are used for task-related navigation. Sonar and bumpers serve for obstacle avoidance. Synthesized and/or recorded speech and other audio can be added. Also appropriate for tele-commuter avatars to provide a remote physical presence at meetings and events.
    • Robot Platform: Complete Performance PeopleBotTM. All necessary accessories are included; Laser Navigation System option is needed for applications where precise positioning is required. Special tour and path programming software allows linking of speech with location.
    • PowerBot TM can be customized with two arms for ambi-dextrous manipulation work.

      •  
    Competition Configurations
    ROBOCUP SOCCER TEAMS of Pioneer robots have fared exceedingly well in competition. Autonomous operation in this interference-laden environment is crucial, as is a PTZ Tracking System for object identification. The 2001, 2000 and 1998 Winning Pioneer teams had lasers. Some teams add custom-designed kickers, easily added with the integrated user I/O bus and 12v power available onboard.
    • Robot Platform: Pioneer 3-DX
    • Computing: Onboard Computer with PCI bus, offboard PC for development work
    • Communication: Tether, laptop cable, RJ45 Ethernet cable or wireless serial Ethernet for development and de-bugging
    • Sensing: PTZ Tracking System, optional front and rear sonar rings
    • Power: Two additional batteries (one included with platform), high-capacity charger, optional charge cube with three batteries
    • Client-side Development Libraries: Saphira8+ Sonar-based Navigation & Localization or optional Laser Mapping & Navigation; ARIA mid-level robot control libraries, all for use with C++
    • Application Software:  Demos and map editing software included , ACTS for color-tracking (included in PTZ Tracking system)
    • Controller Software: proprietary ActivMedia Robot Operating System software (AROS -- included)
    OTHER COMPETITIONS & GAMES Pioneer robots and AmigoBOTs  have good acceleration, grippers, integrated color-tracking, built-in user I/O bus and many other features that make them excellent competitive platforms for a variety of competitions and games. 
    • Robot Platform: Pioneer 3-DX,  P3-AT or AmigoBotTM
    • Computing: Offboard desktop, piggyback laptop or internal onboard computer with Linux installation & CD (WIN2000 available)
    • Communication: Serial Ethernet (with offboard computer only) or Standard Ethernet (with onboard computer only), optional tether for programming
    • Sensing: PTZ Tracking System, optional front and rear sonar rings for Pioneer; optional  AmigoBot TM ePresence
    • Accessories: Optional gripper
    • Power (Pioneer only): Two additional batteries (one included with platform), high-capacity charger, optional charge cube with three batteries
    • Client-side Development Libraries: Saphira8+ Sonar-based Navigation & Localization or optional Laser Mapping & Navigation; ARIA mid-level robot control libraries, all for use with C++
    • Application Software:  Demos and map editing software included, ACTS for color-tracking (included in PTZ Tracking system)
    • Controller Software: proprietary ActivMedia Robot Operating System software (AROS -- included)

      • Show Configurations
    EXHIBITS & SHOWS star ActivMedia robots performing sophisticated artificial intelligence behaviors or simple entertainment. Buy or rent robots and have your own technical and artistic staff design the show. Or have our award-winning designers handle everything from costuming to staging, props, music and behaviors. Or use built-in behaviors to create your own show.
    • PowerBot TM, PeopleBot TM , Pioneer 3-DX,  P3-AT, Robotic Chariot or AmigoBot TM
    • Computing: Offboard desktop, piggyback laptop or internal onboard computer with Linux installation & CD (WIN2000 available)
    • Communication: Radio modem pair (with offboard computer only) or Ethernet (with onboard computer only), optional tether for programming
    • Sensing: PTZ Tracking System or PTZ Tracking / Surveillance System, front and rear sonar rings, bumpers
    • Accessories: Optional gripper, optional sound card and speaker for sound / speech output
    • Power: Two additional batteries (one included with platform), high-capacity charger, optional charge cube with three batteries
    • Client-side Development Libraries: Saphira8+ Sonar-based Navigation & Localization or optional Laser Mapping & Navigation; ARIA mid-level robot control libraries, all for use with C++
    • Application Software:  Demos and map editing software included, ACTS for color-tracking (included in PTZ Tracking system)
    • Controller Software: proprietary ActivMedia Robot Operating System software (AROS -- included)

       

      Classroom Configurations
    ROBOTICS EDUCATION can happen at any level with AmigoBotTM . Students can learn to operate the robot and apply its capabilities, or they can program it. AmigoBotTM is specially designed to be programmed at any level -- from elementary students using fill-in-the-blank commands, to middle-school students editing demos, to high-school students programming in real-time language to university student using compiled C/C++ with Saphira libraries.
    • Robot Platform: AmigoBot TM
    • Computing: Your desktop PC
    • Communication with Offboard Computer: AmigoWirefree
    • Included Sensing: 4 front, 2 side and 2 rear sonar, 500-tick motor encoders
    • Optional Accessories: AmigoBot TM ePresence, AmigoFingers for manipulation or ball play and Carry Cup for deliveries
    • C / C++ Compatible Software Libraries: ActivMedia Robotics Basic Suite with WorldLink, WorldPass, Mapper, Trainer and AmigoSounds (included), optional Saphira software and Technical Manuals
    • Documentation:  Demos and map editing software included, Educators Guide to Robots, highly recommended
    • Controller Software: proprietary robot Operating System software (AmigOS -- included)
    • 3-year extended warranty

    Copyright 2002, ActivMedia Robotics, LLC. All rights reserved