Our TIAGo++ Configuration
The TIAGo (Take It And Go) robot at our lab is available for research purposes. The configuration is as follows:
Onboard Computer
- CPU: Intel Core i7
- RAM: 16 GB
- Hard disk: 500 GB SSD
- Wi-Fi: 802.11 a/b/g/n/ac
- Bluetooth: Smart 4.0 Smart Ready
Battery
- 2 Batteries (up to 8 hours uptime)
- Type: Li-Ion
Sonars
| Category | Specification |
|---|---|
| Manufacturer | Devantech |
| Model | SFR05 |
| Frequency | 40 KHz |
| Measure distance | 0.03 - 1 m |
Lidar
| Category | Specification |
|---|---|
| Manufacturer | SICK |
| Model | TiM561-2050101 |
| Range | 0.05 - 10 m |
| Frequency | 15 Hz |
| Field Of View | 180 degrees |
| Step Angle | 0.033 degrees |
IMU
| Category | Specification |
|---|---|
| Manufacturer | IvenSense |
| Model | MPU-6050 |
| Gyroscope | 3-axis |
| Accelerometer | 3-axis |
Torso
| Category | Specification |
|---|---|
| Stroke | 350 mm |
| Speed | 50 mm/s |
Arms
| Category | Specification |
|---|---|
| DoF | 2x7 |
| Weight | 10 kg |
| Payload | 2.8 kg |
| Joints | 7 |
| Onboard Control Modes Modules | Position, Velocity, Current |
| Onboard Control Modes Wrist | Position and Velocity |
Force/Torque sensor
| Category | Specification |
|---|---|
| Manufacturer | Schunk |
| Model | ATI mini45 |
| Range Fx, Fy | 290 N |
| Range Fz | 580 N |
| Range Tx, Ty | 10 Nm |
| Range Tz | 10 Nm |
Gripper
| Category | Specification |
|---|---|
| Weight | 800 g |
| Payload | 2 kg |
| linear range | 2 x 4 cm |
RGB-D Camera
| Category | Specification |
|---|---|
| Manufacturer | Orbbec |
| Model | Astra S |
| Field of View | 60 deg H, 49.5 deg V, 73 deg D |
| Depth sensor range | 0.4 - 2 m |
| Color stream modes | QVGA 320x240 @ 30 fps, VGA 640x480 @ 30 fps, 1280x960 @ 10 fps |
| Depth stream modes | QVGA 320x240 @ 30 fps, VGA 640x480 @ 30 fps, 160x120 @ 30 fps |
Other
- 2 x endoscopic cameras for the wrists
- 2 x microphone
- speaker