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產品簡介>實驗設備>智慧型機器人>PeopleBot™
PeopleBot™
PeopleBot™
 
Description
 

PeopleBot provides a base for service or performance robots. The handsome black and silver PeopleBot offers a gripper, table-sensing IR's and precise pan-tilt-camera with Advanced Robotic Color-Tracking Software (ACTS) for sensing and grasping objects on tables. Included demo uses state machines to recognize a colored object, fetch it from one table and set it on another.

PeopleBot has the ability to:

  • PLAY sound files or synthesized speech
  • LISTEN for phrases or sounds it recognizes
  • RESPOND to requests or conditions it senses
  • NAVIGATE without running over toes or into furniture
  • FIND & FETCH objects it recognizes
  • FOLLOW colors
  • TRANSMIT video images to surveillance monitors
  • COMMUNICATE with other robots
  • CONNECT to PC's via the Internet or LAN
  • RUN AUTONOMOUSLY
  • At 112 cm (45 in), the PeopleBot stands midriff to chest height on most adults.  PeopleBot is designed for development use by seasoned programmers with ARIA and ARNL, or by end users with the MobileEyes GUI. PeopleBot is ideal for prototyping, research or applications such as

    ·  tour guides

    ·  waiters

    ·  messengers

    ·  monitors and guards

    ·  trade shows

    ·  exhibitions

    ·  performances

    ·  education

    ·  research

    ·  cooperative tasks

    Performance PeopleBot™ for service robotics

    PeopleBot, the service robot

     

     

    COMPONENTS COMMON TO EVERY PEOPLEBOT
     

    PeopleBot is available as a complete system, including accessories, or as a base for developer customization. Every PeopleBot includes the following items. In addition, PeopleBot includes other components and accessories that vary by model, as shown in the table below.

    • body with hinged battery access door, vertical member(s) and upper platform
    • 3 batteries with charger
    • 2 wheels and 1 caster
    • 2 motors with encoders
    • front sonar rings, upper and lower
    • lower rear sonar
    • fixed IR for table & other mid-level avoidance
    • microcontroller
    • sonar board
    • motor power board
    • ARCOS microcontroller server software
    • ARIA API software
    • Laser Mapping & Navigation
    • MobileEyes GUI
    • operations manual
    PEOPLEBOT MODELS
     

    PEOPLEBOT robot's sleek appearance immediately identifies it as a cut above the average robot. PeopleBot offers a tabletop 2-degree-of- freedom gripper and two forms of tabletop sensing. Twin fixed-field IR point up and slightly forward from the front corners of the base to sense the underside of table (their range is too short to sense ceilings.) Twin vertical break beams from the upper to lower plates of the robot sense when the robot is parallel to the table. A switch under the gripper paddles indicate that they've dropped to the table's surface. Horizontal break beams between the gripper's paddles indicate that an object is available to be picked up. With its 120-degree pan-tilt 16X zoom camera, the Touchscreen PeopleBot Guide can track colors, aim upward to see faces and downward to see objects as it picks them up.

    PeopleBot with Touchscreen includes plug-n-play demos, Laser Mapping & ARNL Navigation software, voice recognition, speech synthesis and a touchscreen for robust human interface.

    You can drive PeopleBot with the optional joystick, but why bother? PeopleBot can navigate autonomously, avoiding obstacles, leading tours or providing remote surveillance. If people approach, PeopleBot will move away, creating a game of cat and mouse that delights children. Display the robot's sonar or laser map on a remote monitor or plasma screen overhead to demonstrate how robots sense the world. Let PeopleBot waiters wander the lobby with hors d'oeuvres. And these are just the built-in behaviors. Using ARIA development tools included with PeopleBot, multitudes of behaviors may be created Custom accessories plugged into PeopleBot's user I/O bus are already integrated into ARIA through ARCOS packets.

    Version C camera looking up

    Version C camera looking down



    PEOPLEBOT COMPONENTS BY MODEL
     

    Components

    PeopleBot Base

    Touchscreen PeopleBot
    Guide

    Robot Base with 3 batteries

    X

    X

    Advanced Robotic Interface for Applications (ARIA)

    X

    X

    Laser Mapping and Navigation

    X

    X

    User I/O integrated in hdwe & sfwe

    X

    X

    Charger, 110 or 220V

    5X

    10X

    Upper & Lower Front Sonar

    X

    X

    Mid-level Sensing

    X

    X

    Lower Rear Sonar

    X

    X

    Toe-level Bump Sensing

    X

    X

    Sonar-based Navigation Software

    X

    X

    Direct-Drive Joystick

    X

    X

    Embedded  onboard PC

    Optional

    X

    Microphone & Speakers

    Optional

    X

    PC104 Audio Board

    Requires onboard PC

    X

    Voice Recognition & Speech Integration

    Requires onboard PC

    X

    Wireless Communications

    Optional

    X

    Robotic Pan-Tilt-Zoom Camera

    Optional

    Optional

    Wireless Surveillance

    Optional

    Optional

    Color-Tracking Software

    Requires onboard PC

    Optional

    Range-finding Laser

    Requires onboard PC

    X

    Laser Mapping & Navigation Software

    Requires onboard PC

    X

    Inertial Correction System

    Requires onboard PC

    X

    1 dof Vertical Bar Mount for gripper or camera

    Optional

    Optional

    Table-top Gripper

    Optional

    Optional

    Touchscreen

    Optional

    X

     

    TECHNICAL SPECIFICATIONS
     

    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]-->Size of PeopleBot(tm)<!--[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

     
     

     

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