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{| style="width:300px" border="0" align="right" |- | style="background:LightBlue; color:black; font-size:135%" align="center" | '''Robot Links''' |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Author''' |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en TU/e] |- | style="background:white; color:black;" align="left" | [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] |- | style="background:white; color:black;" align="left" | rop@tue.nl |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''CAD Files''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/ Inventor] |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/ STEP] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''Electronic Drawings''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/Electrical%20Drawings/ PDF] |- | style="background:LightGrey; color:black; font-size:115%" align="left" | '''License''' |- | style="background:white; color:black;" align="left" | [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO/License/ License Files] |- |} [[AMIGO|AMIGO]]: [[AMIGO Head|Head]] | [[AMIGO Arms|Arms]] | [[AMIGO Torso|Torso]] | [[AMIGO Base|Base]] __TOC__ = Robot Summary = AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. * Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/ CST Group, TU/e] * License: [http://www.ohwr.org/projects/cernohl/wiki CERN OHL v.1.1] * Repository: [https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO https://gitlab.tue.nl/tech-united-eindhoven/rop/-/tree/master/AMIGO] * Software: [http://www.ros.org/wiki/Robots/AMIGO http://www.ros.org/wiki/Robots/AMIGO] [[Image:Amigo_BIG.jpg|400px|thumb|center|Figure 1: AMIGO]] = Overview = AMIGO is an acronym for Autonomous Mate for IntelliGent Operations. AMIGO is a service and care taking robot of the [http://www.tue.nl/en Eindhoven University of Technology]. It is used as a demonstrator in several projects, e.g., [http://www.bobbierobotics.nl/ Bobbie Robotics] and [http://www.roboearth.org/ RoboEarth]. Furthermore, it competes in the [http://www.robocup.org/robocup-home/ RoboCup@Home league] on behalf of [http://www.techunited.nl/en Tech United Eindhoven]. <br> Figure 2 shows a picture of the CAD model of AMIGO. It roughly consist of: <br> * 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. {| style="background: transparent; margin: auto;" | [[Image:Amigo ASSEMBLY.jpg|400px|thumb|center|Figure 2: CAD model of AMIGO]] | [[Image:Amigo ASSEMBLY Covers.jpg|400px|thumb|center|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 <br> 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 <br> 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'' <br> 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'' <br> 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 = <div class="center" style="width:auto; margin-left:auto; margin-right:auto;">{{#ev:youtube|Vc7bNcY0qhA}}</div> = License = Copyright Technische Universiteit Eindhoven 2011. <br> <br> This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1. <br> You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl). <br> 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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