Height Weight Footprint 110 - 145 cm 70 Kg ø 54 cm 1 2 2 7 Torso lift Mobile base Head Arm TOTAL 12 GENERAL FEATURES DEGREES OF FREEDOM (DoF) IRON STEEL TITANIUM CONFIGURATION IRON STEEL TITANIUM Mobile base Navigation laser 5.60m 5.60m 10m Lifting torso Pan-tilt head 7 DoF arm End-effector Parallel gripper 5 finger hand Force/Torque sensor Optional Touchscreen monitor Optional * Upgrade kits available in order to evolve the Iron version to Steel or Titanium The robot's configuration may change without previous notice (without end-effector) tiAgo TECHNICAL SPECIFICATIONS ® Free simulation and tutorials at: wiki.ros.org/Robots/TIAGo [email protected]www.pal-robocs.com Tel: +34 934 145 347 C/Pujades 77-79 08005 Barcelona, Spain
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HeightWeightFootprint
110 - 145 cm70 Kgø 54 cm
122
7Torso liftMobile baseHead
Arm TOTAL 12
GENERAL FEATURES
DEGREES OF FREEDOM (DoF)
IRO
N
STEE
L
TITA
NIU
M
CONFIGURATION IRON STEEL TITANIUMMobile base
Navigation laser 5.60m 5.60m 10m
Lifting torso
Pan-tilt head
7 DoF arm
End-effector Parallel gripper 5 finger hand
Force/Torque sensor Optional
Touchscreen monitor Optional
* Upgrade kits available in order to evolve the Iron version to Steel or TitaniumThe robot's configuration may change without previous notice
(without end-effector)
tiAgoTECHNICAL SPECIFICATIONS
®
Free simulation and tutorials at: wiki.ros.org/Robots/TIAGo
On head, laptop tray and mobile base2x USB2x Gigabit Ethernet 12 V / 5 A Hey5 hand / PAL gripper / Your ownIn the first 4 DoF of the arm6 axis Force/Torque sensor
10"
COMPUTER
SENSORS
SUPPORT
CONNECTIVITY
MOBILE BASE
SOFTWARE
BODY(at full extension)
EXTENSIBILITY
OPTIONALS
ELECTRICALFEATURES
tiAgo++TECHNICAL SPECIFICATIONS
®
tiago.pal-robotics.com
AUDIO
*Some of the specs may change without notice.
tiAgoCORE SOFTWARE
®
GET STARTED WITH YOURRESEARCH RIGHT AWAY
OPERATING SYSTEM
ROBOTICS MIDDLEWARE
SIMULATION
Ubuntu LTS 64-bitsRT Preempt real-time framework
OrocosROS LTS
Gazebo dynamic simulation and URDF model
TELEOPERATION Joystick teleoperation:base, torso lifter, head and end-effector
ROS CONTROLLERS
Controllers implemented as ros_control plugins running in the real-time control loopSupported control modes:- Wheels: velocity control- Lifting torso and head: position control- Arm motors: position and effort mode
Joint trajectory controllers on groups of jointsQT GUI to move individual jointsHead Action Server to control the robot's gaze
UPPER BODY MOTION ENGINE
Path planning with self-collision avoidance10 pre-programmed motionsMotions defined by the user
MOVEIT!
AUTONOMOUS NAVIGATION
Laser-based mapping and self-localizationNavigation to a map pointObstacle avoidance
TEXT-TO-SPEECH TTS software with one language and one voice
Off-the-shelf integration
ROBOT SENSORS VISUALIZATION
Rviz plugins for camera, lasers, sonars,IMU and force/torque sensor
WEB BASED INTERFACE
Robot actuators, sensors and software diagnosisVoice synthesis of sentencesExecution of pre-recorded motionsExecution of custom ROS commands
DEMOS Current control: arm gravity compensationArm movements by learning-by-demonstrationExample of tabletop grasping
Free simulation and tutorials at: wiki.ros.org/Robots/TIAGo
Hierarchical quadratic solver providing:- On-line inverse kinematics of the robot's upper body (7 DoF arm, torso prismatic joint, 2 DoF head)- Self-collision avoidance- Joint limit avoidance- Gaze control
UPPER BODY TELEOPERATION
Teleoperation of the 7 DoF arm, the torso prismatic joint and the Hey5 hand/parallel gripper by using a Leap Motion* sensor**
ADVANCED NAVIGATION
Upgrade of the Autonomous Navigation Core package, including:- Obstacle avoidance including the RGB-D camera- Navigation to points of interest or through a sequence of points of interest- Detection of regions of interest (topological localization)- Avoidance of virtual obstacles or forbidden regions
MAP EDITOR Rviz plugin to easily:- Download maps from the robot- Upload maps to the robot- Graphically add virtual obstacles, forbidden regions, points/regions of interest- Use graphical joystick to command robot base
AUTOMATIC SPEECH
RECOGNITION
Off-the-shelf integration of Google's Cloud Speech API ROS interface providing ASR for over 80 languages and variants
TEXT-TO-SPEECH Extra languages and voices
Free simulation and tutorials at: wiki.ros.org/Robots/TIAGo
Adapt TIAGo to your research needs by customizing it from start with its countless expansion possibili�es. PAL Robo�cs offers a catalog of add-ons to expand TIAGo’s capabili�es and opens the door to let you easily connect your own devices on it. Adjust your robot to your needs, and turn TIAGo into your best research companion!
NVIDIA® Jetson™ TX2The perfect kit for Ar�ficial Intelligence applica�ons or Machine Learning developments. Integrate an NVIDIA® Jetson™ TX2 Kit into TIAGo and benefit from one of the fastest and most power-efficient compu�ng devices so nothing stops your algorithms. Explore the poten�al of the AI and robo�cs synergy. Start implemen�ng AI-based applica�ons with TIAGo!
Equip TIAGo with the sensors and devices needed to easily perceive the environment as you require. We know each research field demands a specific way of seeing the world:
Thermal CameraGripper Camera
Temperature and humidity sensors, addi�onal lasers, external microphones and much more!You choose how to enhance TIAGo’s sensing abili�es.
YOUR OWN SENSORS
ONE ROBOT, ENDLESS POSSIBILITIES AT YOUR REACH
YOUR WAY OF SENSING
ARTIFICIAL INTELLIGENCE KIT
Ask for your add-ons at �ago@pal-robo�cs.com
CUSTOMIZE TIAGO
TIAGO®ACCESSORIES
(*) Developed by PAL Robo�cs S.L., with contribu�ons from QBrobo�cs srl. The Hey5 hand is a deriva�ve of the “Pisa/IIT So�Hand” open source project by M. G. Catalano, G. Grioli, E. Farnioli, A. Serio, C. Piazza and A. Bicchi, distributed under Crea�ve Commons A�ribu�on 4.0 Interna�onal License and available at NaturalMachineMo�onIni�a�ve.com
Use the End-effector that fits your needs:
Parallel Gripper Hey5 Hand (*) Current limit control19 DoF (3 actuated)
We can provide the mechanical and electrical interface to mount your own end-effectors into TIAGo.
YOUROWN
TabletAn Android tablet installed on top of TIAGo’s head. Android apps and web-based interfaces open new possibili�es to give orders to TIAGo, trigger a task or understand the robot’s status.
TouchscreenAn integrated touchscreen can be a useful means for commanding TIAGo, interac�ng with it, or checking the robot’s state.
Broaden TIAGo’s applica�ons and interac�on skills with a graphical interface!
CAN Service port Ethernet ports (2x GigE)
USB (1x USB3, 1x USB2)Power supply (12 V / 5 A)
Protec�on Fuse
THERE IS MORE: ADD YOUR OWN ADD-ON!
GRAPHICAL INTERFACE
TAILORED GRASPING
Current limit control2 DoFOp�onal:gripper camera
100% ADAPTED TO YOUR NEEDS
Expansion PanelConnect microphones, cameras, any sensor or device you want to TIAGo, and widen your robot’s abili�es right the way you need it.
Moun�ng PointsTIAGo has moun�ng points on its head, laptop tray and mobile base to handily fix the equipment on its body.
Laptop TrayComfortably place your laptop on top of TIAGo while tes�ng your developments. You can directly connect your laptop to its onboard computer through the expansion panel closeby. The tray is also an adequate surface to permanently add new devices.