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uBot-5 Hardware

The uBot-5 was designed and built from scratch at the Laboratory for Perceptual Robotics.

The platform consists of 11-dof using Micromo coreless DC motors. Power is provided by six A123 racing packs.

The platform is equiped with a PC/104+ based Pentium computer for high level computation and wireless connectivity. Outfitted with a 8.4" LCD touchscreen with speakers and a USB webcam, the uBot-5 can provide network services and do work as a remote telepresence mobile manipulator.

Low level control is provided by a custom 12-channel FPGA based servo controller. The FPGA can update the positions/velocities of all motors at more than 2kHz. An embedded PowerPC core provides low-latency RAW ethernet connectivity and manages low-level reflexes such as balancing and transitions between postural modes.

Technical Specifications

16kg
Power supply 13.8Ahr at 13.2V
Average run-time 3hours
Top speed approximately 12km/hr
Payload at end-effector 5lbs/arm full extension
0.5m arm length
Bimanual workspace includes ground plane

Page last modified on July 17, 2007, at 05:03 PM

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Homepage Robots Dexter uBot uBot-5 uBot-4 uBot-3 uBot-2 uBot-1 uBot-0.5 Smart Room Segway RMP ATRV (Edit Robots SideBar) Research Members Documentation Publications Acknowledgments Contact Info Meeting Schedule Internal Lab Pages (password required) TriadSkin powered by PmWiki	uBot-5 Hardware The uBot-5 was designed and built from scratch at the Laboratory for Perceptual Robotics. The platform consists of 11-dof using Micromo coreless DC motors. Power is provided by six A123 racing packs. The platform is equiped with a PC/104+ based Pentium computer for high level computation and wireless connectivity. Outfitted with a 8.4" LCD touchscreen with speakers and a USB webcam, the uBot-5 can provide network services and do work as a remote telepresence mobile manipulator. Low level control is provided by a custom 12-channel FPGA based servo controller. The FPGA can update the positions/velocities of all motors at more than 2kHz. An embedded PowerPC core provides low-latency RAW ethernet connectivity and manages low-level reflexes such as balancing and transitions between postural modes. Technical Specifications 16kg Power supply 13.8Ahr at 13.2V Average run-time 3hours Top speed approximately 12km/hr Payload at end-effector 5lbs/arm full extension 0.5m arm length Bimanual workspace includes ground plane Edit Page History Source Attach File Backlinks List Group Page last modified on July 17, 2007, at 05:03 PM
Laboratory for Perceptual Robotics University of Massachusetts Amherst