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.
|Weight||ca. 25 kg|
|Payload||ca. 50 kg|
|Power||2 12V lead batteries with 10Ah|
|Operation Time||approx. 2h|
|Drive||Differential drive with 2 Faulhaber 2657WO24CR motors|
|Wheels||2 active on centered axis, 2 passive at front and rear|
|Max. speed||50 cm/s|
|Max. acceleration||25 cm/sq.s|
|Motor Control||Motorola DSP 56F803|
|Computer||Intel Core2Solo, CAN Interface|
|Multimedia||Speakers, microphone, serial display, TTS|
|Operating System||Gentoo Linux, Kernel 184.108.40.206|