The marXbot mobile robot
Transcript of The marXbot mobile robot
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
The The marXbot marXbot mobile robotmobile robot
MOBOTS group10.12.2008
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
MarXbotMarXbot
Modularity Parallel developments
Base module– Final
S-bot2 module– Control integration
Range & bearing– Testing redesign
Scanning distance– Testing redesign
CPU and vision module– Functional integration
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
Proximity sensors– 24 virtual bumpers around– 8 ground around– 4 ground bottom
BaseBase
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
BaseBase
Treels– motors and entertainment– torque and position
sensors 3 axis gyro + 3 axis
accelerometer RFID reader
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
S-bot S-bot 2 module2 module
2D Traction sensor Turret rotation RGB ring Docking support
– rigid horizontal, passivevertical
– connection– attachment detection
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
S-bot S-bot 2 module2 module
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
S-bot S-bot 2 module2 module
Scanning distance sensor– 2 long range SHARP
sensors (30 - 150 cm)– 2 short range SHARP
sensors (4 - 40 cm)
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
CPU and visionCPU and vision
iMX31 main board– speaker– 2 microphones– 3Mp front camera– 3Mp omni-camera + mirror– large RGB beacon
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
iMX iMX core boardcore board
Board with iMX.31processor
Compact (40x50mm) andmodular
Features:– 533 Mhz iMX 31– vector FPU– camera interface– 128 MB RAM– 32 MB Flash– SD storage– USB 2– CAN
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
Use in other projectsUse in other projects
Perplexus project– Controlled by an FPGA-
base hardware
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
Use in other projectsUse in other projects
Student project– Manipulation of ferro-
magnetic objects– Collective planning
based on classical AI
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
System ArchitectureSystem Architecture
iMX core boardARM Linux
MicrocontrollerASEBA
MotorsSensors
MicrocontrollerASEBA
MotorsSensors
MicrocontrollerASEBA
MotorsSensors
CAN bus
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
Event-based low-lever controlarchitecture
CAN communication Virtual machines (VM) on each
microcontroller Centralized IDE
ASEBA frameworkASEBA framework
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
EnvironmentsEnvironments
Arena with top camera SwisTrack Others tracking with
identification
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
EnvironmentsEnvironments
“All-terrain” modularsurface
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
Hand-botHand-bot
MOBOTS group10.12.2008
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
Hand-botHand-bot
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
Hand-botHand-bot
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888
Hand-botHand-bot: overview: overview