The PeopleBot's 47cm x 38cm x 112cm body is made of aluminum. PeopleBot has two 19 cm dia drive wheels with 36:1 gear ratios have plenty of power to carry a 13kg payload. The 500-tick encoders provide <1% dead reckoning error, corrected with gyroscope. These differential drive platforms are highly holonomic and can rotate in place moving both wheels, or can swing around a stationery wheel in a circle of 32cm radius. A rear caster balances the robots. <!--[if !vml]--><!--[endif]-->
PeopleBot can climb a 5% grade and sills of 1.5cm. On flat floor, the PeopleBot can move safely at speeds of .8 mps; faster speeds are possible, but not recommended. At slower speeds it can carry payloads up to 13 kg. Payloads include additional batteries and all accessories and must be balanced appropriately for effective operation of the robot.
In addition to motor encoders, all PeopleBot robots include 24 ultrasonic transducer (range-finding sonar) sensors arranged to provide 360-degree forward coverage. The sonar read ranges from 15cm to approximately 7m. Some robots also include rear sonar.
PeopleBot robot's hinged battery door makes hot-swapping batteries simple, though a bare PeopleBot base can run 18-24 hours on three fully charged batteries. With a high-capacity charger, re-charging time is only 2.4 hours.
The PeopleBot robot's easily removable nose allows quick access to any optional embedded computer for addition of up to 3 PC104+ cards. PeopleBot includes a 32-bit RISC controller. On the microcontroller, we have 8 digin and 8 digout plus 1 dedicated A/D port; 4 digin can be reconfigured as A/D in; 4 digout can be reconfigured to PWM outputs. This user I/O is integrated into the packet structure, accessible through ARIA.
PeopleBot also includes fixed IR with range of 50mm to 1000 mm to sense the underside of tables. It points up and slightly forward from the nose of the robot base. The IR beam is collimated using special lensing to allow reliable long-range reflective sensing.
Touchscreen PeopleBot includes a vertical 1dof beam device with horizontal 1dof gripper. The gripper has a maximum 12 cm (4.75 in) spread between fingers. The combined beam/gripper mechanism has a payload capacity of 1 kg (2.2 lbs.).
FOR MORE INFORMATION: Cross-Platform Specifications Table
A small proprietary ARCOS transfers sonar readings, motor encoder information and other I/O via packets to the PC client and returns control commands. ARIA supplies the developer interface, for use under under Debian Linux or under Windows 2000 using their favorite C/C++ compiler. ARNL offers mapping, localization and navigation.
FOR MORE INFORMATION: Software