the marxbot mobile robot

Project funded by the Future and Emerging Technologies arm of the IST ProgrammeFET-Open scheme - IST-022888

The The marXbot marXbot mobile robotmobile robot

MOBOTS group10.12.2008


MarXbotMarXbot

Modularity Parallel developments

Base module– Final

S-bot2 module– Control integration

Range & bearing– Testing redesign

Scanning distance– Testing redesign

CPU and vision module– Functional integration


Proximity sensors– 24 virtual bumpers around– 8 ground around– 4 ground bottom

BaseBase


BaseBase

Treels– motors and entertainment– torque and position

sensors 3 axis gyro + 3 axis

accelerometer RFID reader


S-bot S-bot 2 module2 module

2D Traction sensor Turret rotation RGB ring Docking support

– rigid horizontal, passivevertical

– connection– attachment detection



Scanning distance sensor– 2 long range SHARP

sensors (30 - 150 cm)– 2 short range SHARP

sensors (4 - 40 cm)


CPU and visionCPU and vision

iMX31 main board– speaker– 2 microphones– 3Mp front camera– 3Mp omni-camera + mirror– large RGB beacon


iMX iMX core boardcore board

Board with iMX.31processor

Compact (40x50mm) andmodular

Features:– 533 Mhz iMX 31– vector FPU– camera interface– 128 MB RAM– 32 MB Flash– SD storage– USB 2– CAN


Use in other projectsUse in other projects

Perplexus project– Controlled by an FPGA-

base hardware


Use in other projectsUse in other projects

Student project– Manipulation of ferro-

magnetic objects– Collective planning

based on classical AI


System ArchitectureSystem Architecture

iMX core boardARM Linux

MicrocontrollerASEBA

MotorsSensors


MotorsSensors


MotorsSensors

CAN bus


Event-based low-lever controlarchitecture

CAN communication Virtual machines (VM) on each

microcontroller Centralized IDE

ASEBA frameworkASEBA framework


EnvironmentsEnvironments

Arena with top camera SwisTrack Others tracking with

identification


EnvironmentsEnvironments

“All-terrain” modularsurface


Hand-botHand-bot

MOBOTS group10.12.2008


Hand-botHand-bot


Hand-botHand-bot: overview: overview

the marxbot mobile robot

Documents