Overview

ROBOTONT is an mobile ground robot with omnidirectional wheels to enable rapid movement in any direction at a desired heading. The sensor system includes a depth camera which allows it to see like humans and map the entire environment in 3D. The powerful on-board computer facilitates running high performance algorithms and libraries. The software stack is open-source and based on ROS (Robot Operating System). Its literally transparent design, modular hardware, and open-source software offer endeless custiomization and extendibility options.

ROBOTONT currently includes the following out-of-the-box demos:

• Android device, gamepad and keyboard based teleoperation,

• 2D mapping and SLAM,

• 3D mapping,

• AR marker tracking, and

• gesture-based human-robot interaction.

Specification

On-board computer - Intel NUC7i5BNK

Processor	Intel Core i5 (7th Gen) 7260U (2 cores, up to 3.4 GHz)
RAM	DDR4 2133 MHz 4 GB
GPU	Intel Iris Plus Graphics 640
Peripherals	1x HDMI, 4 x USB 3.0 Type A, 1 x Thunderbolt 3/DisplayPort/USB-C 3.1 Gen2
Storage	Transcend MTS420 M2.0 SSD 120 GB
Network	Intel I219-V Gigabit Ethernet – RJ45 <br> Intel Dual Band Wireless-AC 8265, IEEE 802.11a/b/g/n/ac

Development board for external devices and motors- ARM NUCLEO-L476RG

CPU	ARM®32-bit Cortex®-M4, 80 MHz
Debugging and programming interface	ST-LINK/V2-1
Connectivity	mini-USB
GPIO	51

Motors – DC motors with encoders

Voltage	12 V
Stall current	5000 mA
Max rpm	500
Max torque	0.59 Nm
Gear Ratio	19:1
Encoder resolution (motor)	64 counts per revolution
Encoder resolution (gearbox)	1200 counts per revolution

3D depth camera – Intel Realsense D435

Depth Stream Output Resolution	1280 x 720
Depth Field of View horizontal	85.2 deg
Depth Field of Vies vertical	58 deg
RGB Sensor Resolution and Frame Rate	1920 x 1080 at 30 fps
Minimum depth	110 mm
Max range	Approx.10 meters; Varies depending on calibration, scene, and lighting condition
Connection type	USB 3 Type-C