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100-baseT ethernet stereo cameras 1280x960, 1394b pan-tilt unit 180° laser scanner CPU 1: P4, 2.4GHz, 512MB RAM ptu controller, vision processing, high-level software CPU 2: P3, 650MHz, 256MB RAM base controller wireless bridge (802.11g) synchro-drive base spot lighte-stop external screen and keyboard batteries (48V) battery voltage meter RS b RS232
Citation preview
Trestle Mobile Robots
Frederik HegerRobotics Institute, Carnegie MellonAugust 17, 2007
Mobile Manipulator
Roving Eye Stereo CamerasPan-Tilt UnitLaser Scanner
5-DOF ArmForce-Torque Sensor
Gyroscope + AccelerometerLaser ScannerElectromagnet
100-
base
T et
hern
et
stereo cameras1280x960, 1394b
pan-tilt unit
180° laser scanner
CPU 1: P4, 2.4GHz, 512MB RAMptu controller, vision processing,high-level software
CPU 2: P3, 650MHz, 256MB RAMbase controller
wireless bridge (802.11g)
synchro-drive base
spot light e-stop
external screen and keyboard
batteries (48V)
battery voltage meter
RS2
32
1394b
RS232
RS232
RS232
force-torque sensor
laser scanner
arm controller wireless bridge (802.11g)
gyroscope skid-steered base
electromagnet
5-DOF arm
batteries (24V)
external screen
e-stop
100-
base
T et
hern
et
RS232
RS2
32
RS2
32
USB
USB
RS2
32
accelerometer Inertial solution
CPU: P4, 2.4GHz, 512MB RAMbase controller, arm control, high-level software
