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Trestle Mobile Robots Frederik Heger Robotics Institute, Carnegie Mellon August 17, 2007.

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Presentation on theme: "Trestle Mobile Robots Frederik Heger Robotics Institute, Carnegie Mellon August 17, 2007."— Presentation transcript:

1 Trestle Mobile Robots Frederik Heger Robotics Institute, Carnegie Mellon August 17, 2007

2 Mobile Manipulator Roving Eye Stereo Cameras Pan-Tilt Unit Laser Scanner 5-DOF Arm Force-Torque Sensor Gyroscope + Accelerometer Laser Scanner Electromagnet

3 100-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 RS232 1394b RS232

4 force-torque sensor laser scanner arm controllerwireless bridge (802.11g) gyroscope skid-steered base electromagnet 5-DOF arm batteries (24V) external screen e-stop 100-baseT ethernet RS232 USB RS232 accelerometerInertial solution CPU: P4, 2.4GHz, 512MB RAM base controller, arm control, high-level software

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