tiago's datasheet - tiago - tiagotiago.pal-robotics.com/static/tiago-datasheet.pdf ·...

info@pal-robotics.comwww.pal-robotics.com

Tel: +34 934 145 347Fax: +34 932 091 109

C/Pujades 77-79, 4o 4a

08005 Barcelona, Spain

HeightWeightFootprint

110 - 145 cm70 Kgø 54 cm

122

7Torso liftMobile baseHead

Arm TOTAL 12

GENERAL FEATURES

DEGREES OF FREEDOM (DoF)

IRO

N

STEE

L

TITA

NIU

M

CONFIGURATION IRON STEEL TITANIUMMobile Base

Navigation Laser 5.50m 5.50m 10m

Lifting Torso

Pan-tilt head

7 DoF arm

End-effector Parallel Gripper 5 finger hand

Force/torque sensor

* Upgrade Kits available in order to evolve the Iron version to Steel and Titanium

(without end-effector)

Simulation model available at: wiki.ros.org/Robots/TIAGo

tiAgoTECHNICAL SPECIFICATIONS

©

info@pal-robotics.comwww.pal-robotics.com

Tel: +34 934 145 347Fax: +34 932 091 109

C/Pujades 77-79, 4o 4a

08005 Barcelona, Spain

Arm payload

Arm reach

Torso lift

Differential driveMax speedOperation enviroment

Wireless connectivity

Battery 36V 20AhBattery Autonomy

BaseIMU (Base)

MotorsTorsoHead

CPURAMHard Drive

OSOpen source middlewarePeriodic updates/patchesArm withEye-hand calibration suit

TrainingMaintenance planTicketing systemOnline helpdeskResearch community forum

Laptop trayMounting PointsUSB portsEthernet ports Power supply End-effectorWrist sensor Whole body control

2 Kg

87 cm

35 cm

1 m/sIndoor

802.11 n/ac 2x2 Dual Band Wi-Fi Bluetooth 4.0

1 battery / 2 batteries4-5h / 6 - 10h

Laser 5.5m or 10m range, rear sonars 3x1m range 6 DoFActuators current feedbackStereo microphonesRGB-D camera

Intel i5 / i7 Haswell4 GB / 8 GB / 16 GB60 GB / 120 GB SSD

Ubuntu Linux LTSROS

position / velocity / effort control

On demandOn demand

On head and laptop tray1x USB3, 1x USB22x Gigabit 12V / 5A 5 finger underactuated hand / Parallel gripperForce/torque sensor

COMPUTER

SENSORS

SUPPORT

CONNECTIVITY

MOBILE BASE

SOFTWARE

BODY(at full extension)

(without end-effector)

EXTENSIBILITY

OPTIONALS

ELECTRICALFEATURES

tiAgoTECHNICAL SPECIFICATIONS

©

Simulation model available at: wiki.ros.org/Robots/TIAGo