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.

files/pictures/robotont_gen_2_3_multi_view.png

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