Robotics Research Lab

Artos

Autonomous Robot for Transport and Service

Description

The mobile robot ARTOS has been created for indoor use in assisted living scenarios. Initially designed for transport tasks some improvements where made for semi-autonomous teleoperation to assess situations and detect emergencies. When providing a proper internet-enabled wireless ethernet connection the robot can be reached over Skype for human-to-human interaction.

ARTOS possesses a tilting mechanism which ensures that the drive wheels and at least one coaster wheel are always on the ground. This mechanism consists of a pivot-mounted plate to which the centered components are attached, The system uses a low-power PC for task management, and high-level control. This has been implemented using the Modular Controller Architecture (MCA), a framework for robot control systems. Drive instructions are passed over CAN-Bus to the signal processors that control the motor speed.

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Technical Data

length55 cm
Width33 cm
Height26 cm
Weightca. 25 kg
Payloadca. 50 kg
Power2 12V lead batteries with 10Ah
Operation Timeapprox. 2h
DriveDifferential drive with 2 Faulhaber 2657WO24CR motors
Wheels2 active on centered axis, 2 passive at front and rear
Max. speed50 cm/s
Max. acceleration25 cm/sq.s
Motor ControlMotorola DSP 56F803
ComputerIntel Core2Solo, CAN Interface
MultimediaSpeakers, microphone, serial display, TTS
CameraAxis PTZ
Operating SystemGentoo Linux, Kernel 2.6.21.5
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