AMIGO

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AMIGO: Head | Arms | Torso | Base


Contents


Robot Summary

AMIGO is a service and care taking robot of the Eindhoven University of Technology.



Figure 1: AMIGO


Overview

AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the Eindhoven University of Technology. It is used as a demonstrator in several projects, e.g., Bobbie Robotics and RoboEarth. Furthermore, it competes in the RoboCup@Home league on behalf of Tech United Eindhoven.
Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of:

  • a head combined with a laser range finder to visualize the environment;
  • two Philips Experimental Robotic Arms (PERA) interact with it surroundings; The PERAs are bought from Philips and are not open source released.
  • a torso containing a spindle which enables AMIGO to translate the upper body in vertical direction;
  • a base containing the batteries, electronics and four omni wheels.


Figure 2: CAD model of AMIGO
Figure 2: CAD model of AMIGO with covers

Specifications

Construction

  • Dimensions (HxWxD): 100-135 x 65 x 65 cm
  • Weight: +/- 80 kg


Electrical

4x Makita Ni-MH (BH2433) batteries.

  • Type: Ni-MH
  • Size: 120.48 x 86.82 x 96.72 mm (per battery)
  • Weight: 1.473 kg (per battery)
  • Capacity: 3.3 Ah
  • Voltage: 24 V
  • Autonomy: 15 min (active use) 30 min (normale use)


Computer

Three on-board PCs
AOpen DE57-HA:

  • Dimension (HxWxD): 166 x 48 x 157 mm
  • Weight: 1.22 kg
  • CPU: Intel Core i5
  • Memory: 8GB DDR3 1066MHz
  • LAN: Intel Gigabit Ethernet
  • USB: USB 2.0 Port x 4
  • Storage: S-ATA 500Gb
  • Power: 90W max


Communication

USB


Gigabit Ethernet

  • Cisco Linksys E2000 router
  • Gigabit Ethernet switch


EtherCAT Network

  • 1 kHz Control to Base Motors
  • Trigger signal from Laser Scanner
  • Diagnostic signals from robot vitals
  • Expandable with further Beckhoff modules


Vision

Microsoft Kinect

  • Horizontal field of view: 58 degrees
  • Vertical field of view: 45 degrees
  • Image sensor: Resolution VGA (640 x 480)
  • Frame Rate 30 fps
  • Depth sensor: Resolution VGA (640 x 480)
  • Frame Rate: 30 fps
  • Range: 0.8 - 3.5 m
  • Spatial x/y resolution: 3 mm (@ 2m distance)
  • Depth z resolution: 1 cm (@ 2m distance)


LRF
Hokuyo UTM-30LX

  • Power: source 12V +/- 10%
  • Current: consumption 0.7A (max. 1.0 A)
  • Detection range: 0.1 to approx. 60m (<30m guaranteed)
  • Laser wavelength: 870 nm, Class 1
  • Scan angle: 270 degrees
  • Scan time: 0.025 s/scan (40.0 Hz)
  • Angular resolution: 0.25 degrees
  • Interface: USB 2.0 with trigger port
  • Weight: 0.233 kg
  • Measurement error: 0.1 to 10m (+/-30mm) / 10 to 30 m (+/-50mm)


Audio

In
Rode VideoMic Directional Video Condenser Microphone

  • Condenser microphone
  • 9V battery powered
  • Integrated shock mounting
  • Two step High Pass Filter (Flat/80Hz)
  • Three step PAD (0, =10, -20dB)
  • Rugged reinforced ABS construction
  • 3.5 mm mini-jack output


Out
1x JBL GTO328

  • Power: 75 W max

Arms

Philips Experimental Robotic Arms (PERA)

Arm DOFs

  • Arm: 4
  • Wrist: 3
  • Gripper: 1
  • Liftable force: 1.5 kg (straight arm)


Arm Link Lengths

  • Upper Arm: 320 mm
  • Forearm: 280 mm
  • Wrist to Gripper Surface: 90 to 180 mm
  • Distance between shoulder joints: 219 mm


Arm Range of Motion

  • Shoulder yaw: 180 degrees
  • Shoulder roll: 90 degrees
  • Shoulder pitch: 180 degrees
  • Elbow yaw: 210 degrees
  • Elbow pitch: 145 degrees
  • Wrist Yaw: 90 degrees
  • Wrist Pitch: 114 degrees
  • Gripper: 90mm max


Software

  • Ubuntu
  • ROS (Robot Operating System)
  • Programming: C++ / Phyton / Java / Lisp


Degrees of Freedom

Pan Tilt Head

  • Pan: 300 degrees
  • Tilt: 120 degrees


Arms

  • Arm: 4 DOF
  • Wrist: 3 DOF
  • Gripper: 1 DOF


Lifting mechanism

  • 1 DOF


Omni Directional Base

  • Omniwheels: 4 driven
  • Speed: 1 m/s


Motor Specifications

Drive motors

  • 4x Maxon RE40 24 V
  • 4x Maxon Planetary gearhead 42 C 43:1
  • 4x Maxon encoder: HED 5540


Lifting mechanism

  • Maxon RE35 24 V
  • Maxon Planetary gearhead GP 32A 4.8:1
  • Maxon Encoder: HEDS 5540
  • Maxon Brake AB 28, 24 VDC


Head

  • 2x Dynamixel RX-28


Video


License

Copyright Technische Universiteit Eindhoven 2011.

This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1.
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl).
This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions.

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