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 |