Robot Hardware and Sensory Setup Sample Clauses

Robot Hardware and Sensory Setup. As none of the commercially available robot platforms offered the computational and sensory capabilities required for the research in XXXXXXX, a custom mobile robot was developed by an industrial partner within the project. The differential- drive robot platform built for XXXXXXX, shown in Fig. 2 (left), is around 2 1 xxxxx://xxxxxx.xxx/xxxxxxx-project/spencer_people_tracking People Detection, Tracking and Visualization on a Mobile Robot 3 meters tall and equipped with two onboard Intel Core i7-3520M machines for planning and navigation, an i3-2120 machine for interaction, two i7-4700MQ gaming laptops with nVidia GeForce GTX 765M for perception and one em- bedded PowerPC system for low-level motion control. All systems communicate over a gigabit ethernet connection and, except for the embedded system, run ROS Indigo on Ubuntu 14.04. The robot is equipped with two front- and two rear-looking RGB-D sensors, a front-facing stereo camera system and a pair of 2D laser scanners offering, when combined, a 360-degree coverage. For human-robot interaction, a touchscreen and a boarding pass reader have been integrated. Custom ROS wrappers for communication with the embedded system and the robot’s head joints were developed as part of the project.
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