Our Robots
Junior |
|
|
Junior is an ATRVJr research platform that was manufactured by i-Robot. We use Junior in our Urban Search and Rescue interface research. We have made the following hardware and software modifications to Junior:
|
Wheely |
|
|
Wheely is a power wheelchair that was originally used by Holly Yanco during her PhD. research. We replaced the original Motorola 68332 with a full Pentium 4 2.8Ghz Mini-ITX PC. We also upgraded the motor control to a RoboteQ AX2850 with high resolution optical encoders. We are currently researching Stereo Vision SLAM on Wheely. |
Morpheus |
|
|
Morpheus is a Pioneer 3 robot which was manufactured by MobileRobots ( formally ActivMedia ). He is a standard Pentium 3 Linux box with a full sonar ring, SICK laser, and a Canon VC-C4 PTZ camera. He is currently being used for studying levels of autonomy. |
Trinity |
|
|
Trinity is a Pioneer 2 robot. She is very similar to Morpheus. We primarily use her for the graduate Mobile Robotics class and the undergraduate Robotics 2 class. |
Personal Exploration Rover |
|
|
The PER ( Personal Exploration Rover ) was created at CMU. It is a simple replica of a Mars Rover used by NASA. It has an infrared distance sensor and USB-CAM mounted to a pan-tilt head for sensing the environment. Its brain is a Stargate Gateway SPB400 embedded Linux system. |
Roombas |
|
|
This fleet of Roomba robots help keep the carpets in our lab clean. The white one is programmable. |