technical specifications free simulation and tutorials at...

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 5.60m 5.60m 10m

Lifting torso

Pan-tilt head

7 DoF arm

End-effector Parallel gripper 5 finger hand

Force/Torque sensor Optional

Touchscreen monitor Optional

* Upgrade kits available in order to evolve the Iron version to Steel or TitaniumThe robot's configuration may change without previous notice

(without end-effector)

tiAgoTECHNICAL SPECIFICATIONS

®

Free simulation and tutorials at: wiki.ros.org/Robots/TIAGo

[email protected]: +34 934 145 347

C/Pujades 77-79

08005 Barcelona, Spain

Arm payload

Arm reach

Torso lift

Differential driveMax. speedOperation enviroment

Wireless connectivity

Battery 36V 20AhBattery autonomy

BaseIMU (Base)MotorsHead

SpeakersMicrophone

CPURAMSSD

OS Open source middlewarePeriodic updates/patchesArm with

Training and maintenanceOnline helpdesk

Laptop trayMounting pointsUSB portsEthernet ports Power supply End-effector Wrist sensor Dock StationTouchscreen

3 kg (without end-effector)

87 cm (without end-effector) 35 cm

1 m/sIndoor

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

1 battery / 2 batteries4 - 5h / 8 - 10h

Laser 5.6m /10m / 25m range, rear sonars 3x1m range 6 DoFActuators current feedbackRGB-D camera

1x 5 W audio speaker2-microphone array with stereo output 50-8000 Hz

Intel i5 / i7 Haswell4 GB / 16 GB256 GB / 512 GB

Ubuntu LTS 64-bits, RT PreemptROS LTS

Position / velocity / effort control

On demand

On head, laptop tray and mobile base1x USB3, 1x USB22x Gigabit 12V / 5A Hey5 hand / PAL gripper 6 axis Force/Torque sensor

COMPUTER

SENSORS

SUPPORT

CONNECTIVITY

MOBILE BASE

SOFTWARE

BODY(at full extension)

EXTENSIBILITY

OPTIONALS

ELECTRICALFEATURES

tiAgoTECHNICAL SPECIFICATIONS

®


AUDIO


C/Pujades 77-79



C/Pujades 77-79


HeightWeightFootprint

110 - 145 cm85 Kgø 54 cm

122

7 DoF eachTorso liftMobile baseHead

Arm TOTAL 19

GENERAL FEATURES

DEGREES OF FREEDOM (DoF)

CONFIGURATIONMobile base

Navigation laser 5.60 m / 10 m / 25 m

Lifting torso

Pan-tilt head

7 DoF arm 2

End-effectors Gripper and hands available

Force/Torque sensor Optional

Touchscreen monitor Optional

(without end-effectors)

tiAgo++TECHNICAL SPECIFICATIONS

®

tiago.pal-robotics.com


C/Pujades 77-7908005 Barcelona, Spain

Arm payload

Arm reach

Torso lift

Differential driveMax. speedOperation enviroment

Wireless connectivity

Battery 36V 20AhBattery autonomy

BaseIMU (Base)MotorsHead

SpeakersMicrophone

CPURAMSSD

OS Open source middlewarePeriodic updates/patchesArms native control

Training and maintenanceOnline helpdesk

Laptop trayMounting pointsUSB portsEthernet ports Power supply Supported End-effector Current sensorsWrist sensor Dock StationTouchscreen

3 kg (without end-effector)

87 cm (without end-effector) 35 cm

1 m/sIndoor

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

1 battery / 2 batteries5h / 10h

Laser 5.6 m /10 m / 25 m range, rear sonars 3x1 m range 6 DoFActuators current feedbackRGB-D camera

2x 5 W audio speaker2-microphone array with stereo output 50-8000 Hz

Intel i5 / i7 7th generation8 GB / 16 GB200 GB / 500 GB

Ubuntu LTS 64-bits, RT PreemptROS LTS

Position / velocity / effort control On demand

On head, laptop tray and mobile base2x USB2x Gigabit Ethernet 12 V / 5 A Hey5 hand / PAL gripper / Your ownIn the first 4 DoF of the arm6 axis Force/Torque sensor

10"

COMPUTER

SENSORS

SUPPORT

CONNECTIVITY

MOBILE BASE

SOFTWARE

BODY(at full extension)

EXTENSIBILITY

OPTIONALS

ELECTRICALFEATURES

tiAgo++TECHNICAL SPECIFICATIONS

®

tiago.pal-robotics.com

AUDIO

*Some of the specs may change without notice.

tiAgoCORE SOFTWARE

®

GET STARTED WITH YOURRESEARCH RIGHT AWAY

OPERATING SYSTEM

ROBOTICS MIDDLEWARE

SIMULATION

Ubuntu LTS 64-bitsRT Preempt real-time framework

OrocosROS LTS

Gazebo dynamic simulation and URDF model

TELEOPERATION Joystick teleoperation:base, torso lifter, head and end-effector

ROS CONTROLLERS

Controllers implemented as ros_control plugins running in the real-time control loopSupported control modes:- Wheels: velocity control- Lifting torso and head: position control- Arm motors: position and effort mode

Joint trajectory controllers on groups of jointsQT GUI to move individual jointsHead Action Server to control the robot's gaze

UPPER BODY MOTION ENGINE

Path planning with self-collision avoidance10 pre-programmed motionsMotions defined by the user

MOVEIT!

AUTONOMOUS NAVIGATION

Laser-based mapping and self-localizationNavigation to a map pointObstacle avoidance

TEXT-TO-SPEECH TTS software with one language and one voice

Off-the-shelf integration

ROBOT SENSORS VISUALIZATION

Rviz plugins for camera, lasers, sonars,IMU and force/torque sensor

WEB BASED INTERFACE

Robot actuators, sensors and software diagnosisVoice synthesis of sentencesExecution of pre-recorded motionsExecution of custom ROS commands

DEMOS Current control: arm gravity compensationArm movements by learning-by-demonstrationExample of tabletop grasping



C/Pujades 77-79


FACIAL PERCEPTION

Face detection, matching, tracking and recognition of 6 basic emotions

Facial features identification (glasses, smile, open mouth, blinking)

* Copyright © 2015, Leap Motion, Inc.** The sensor is included with this option software.

tiAgoPREMIUM SOFTWARE

WHOLE BODY CONTROL

®

TO GET THE MOST OUT OF YOUR ROBOT

Hierarchical quadratic solver providing:- On-line inverse kinematics of the robot's upper body (7 DoF arm, torso prismatic joint, 2 DoF head)- Self-collision avoidance- Joint limit avoidance- Gaze control

UPPER BODY TELEOPERATION

Teleoperation of the 7 DoF arm, the torso prismatic joint and the Hey5 hand/parallel gripper by using a Leap Motion* sensor**

ADVANCED NAVIGATION

Upgrade of the Autonomous Navigation Core package, including:- Obstacle avoidance including the RGB-D camera- Navigation to points of interest or through a sequence of points of interest- Detection of regions of interest (topological localization)- Avoidance of virtual obstacles or forbidden regions

MAP EDITOR Rviz plugin to easily:- Download maps from the robot- Upload maps to the robot- Graphically add virtual obstacles, forbidden regions, points/regions of interest- Use graphical joystick to command robot base

AUTOMATIC SPEECH

RECOGNITION

Off-the-shelf integration of Google's Cloud Speech API ROS interface providing ASR for over 80 languages and variants

TEXT-TO-SPEECH Extra languages and voices



C/Pujades 77-79


TOUCHSCREEN

GRIPPER CAMERA

NVIDIA® Jetson™ TX2

ANDROID TABLET

EXPANSION PANEL

THERMAL CAMERA

END - EFFECTORS

TIAGO®ACCESSORIES

Adapt TIAGo to your research needs by customizing it from start with its countless expansion possibili�es. PAL Robo�cs offers a catalog of add-ons to expand TIAGo’s capabili�es and opens the door to let you easily connect your own devices on it. Adjust your robot to your needs, and turn TIAGo into your best research companion!

NVIDIA® Jetson™ TX2The perfect kit for Ar�ficial Intelligence applica�ons or Machine Learning developments. Integrate an NVIDIA® Jetson™ TX2 Kit into TIAGo and benefit from one of the fastest and most power-efficient compu�ng devices so nothing stops your algorithms. Explore the poten�al of the AI and robo�cs synergy. Start implemen�ng AI-based applica�ons with TIAGo!

Equip TIAGo with the sensors and devices needed to easily perceive the environment as you require. We know each research field demands a specific way of seeing the world:

Thermal CameraGripper Camera

Temperature and humidity sensors, addi�onal lasers, external microphones and much more!You choose how to enhance TIAGo’s sensing abili�es.

YOUR OWN SENSORS

ONE ROBOT, ENDLESS POSSIBILITIES AT YOUR REACH

YOUR WAY OF SENSING

ARTIFICIAL INTELLIGENCE KIT

Ask for your add-ons at �ago@pal-robo�cs.com

CUSTOMIZE TIAGO

TIAGO®ACCESSORIES

(*) Developed by PAL Robo�cs S.L., with contribu�ons from QBrobo�cs srl. The Hey5 hand is a deriva�ve of the “Pisa/IIT So�Hand” open source project by M. G. Catalano, G. Grioli, E. Farnioli, A. Serio, C. Piazza and A. Bicchi, distributed under Crea�ve Commons A�ribu�on 4.0 Interna�onal License and available at NaturalMachineMo�onIni�a�ve.com

Use the End-effector that fits your needs:

Parallel Gripper Hey5 Hand (*) Current limit control19 DoF (3 actuated)

We can provide the mechanical and electrical interface to mount your own end-effectors into TIAGo.

YOUROWN

TabletAn Android tablet installed on top of TIAGo’s head. Android apps and web-based interfaces open new possibili�es to give orders to TIAGo, trigger a task or understand the robot’s status.

TouchscreenAn integrated touchscreen can be a useful means for commanding TIAGo, interac�ng with it, or checking the robot’s state.

Broaden TIAGo’s applica�ons and interac�on skills with a graphical interface!

CAN Service port Ethernet ports (2x GigE)

USB (1x USB3, 1x USB2)Power supply (12 V / 5 A)

Protec�on Fuse

THERE IS MORE: ADD YOUR OWN ADD-ON!

GRAPHICAL INTERFACE

TAILORED GRASPING

Current limit control2 DoFOp�onal:gripper camera

100% ADAPTED TO YOUR NEEDS

Expansion PanelConnect microphones, cameras, any sensor or device you want to TIAGo, and widen your robot’s abili�es right the way you need it.

Moun�ng PointsTIAGo has moun�ng points on its head, laptop tray and mobile base to handily fix the equipment on its body.

Laptop TrayComfortably place your laptop on top of TIAGo while tes�ng your developments. You can directly connect your laptop to its onboard computer through the expansion panel closeby. The tray is also an adequate surface to permanently add new devices.

�ago@pal-robo�cs.comwww.pal-robo�cs.com

Tel: +34 934 145 347

C/Pujades 77-79 08005 Barcelona, Spain

technical specifications free simulation and tutorials at...

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