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.

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Specification

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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 Intel Dual Band Wireless-AC 8265, IEEE 802.11a/b/g/n/ac

Development board – ARM NUCLEO-L476RG

  • CPU: ARM® 32-bit Cortex®-M4, 80 MHz

  • Debugging: ST-LINK/V2-1

  • Connectivity: mini-USB

  • GPIO: 51

Motors – Pololu 1442

  • Voltage: 12 V

  • Stall current: 5000 mA

  • Max rpm: 500

  • Max torque: 0.59 Nm

  • Gear Ratio: 19:1

  • Encoder (motor): 64 counts/rev

  • Encoder (gearbox): 1200 counts/rev

3D Camera – Intel Realsense D435i

  • Depth Resolution: 1280 x 720

  • FOV (Horizontal): 87° (depth), 69.4° (RGB)

  • FOV (Vertical): 58° (depth), 42.5° (RGB)

  • RGB Sensor: 1920 x 1080 @ 30 fps

  • Min Depth: ~28cm (720p), ~10cm (480p)

  • Operating range: ~0.3 - 3 meters

  • Connection: USB 3.1 Type-C