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