Equipment

The lab is equipped with state-of-the-art field robotic systems, sensors for outdoor perception and mapping, and mechatronic and embedded systems for the development of applied research activities and prototypes.

Mobile Platforms

Mattro ROVO 2

Description of the device:

The Mattro Rovo 2 is a fully electric powertrain system on tracks developed for off-road use. The cutting edge, high-performance technology offers the ideal basis for everything from building a prototype to producing a series vehicle (ROV).

Technical specifications:

Dimensions 1200 x 1230 x 530 mm
Top Speed 30 km/h
Own Weight 290 kg
Ground Clearance 160 mm
Ground Pressure 5.2 kg/dm2
Payload 300 kg

Applications in the laboratory:

It is used as a multipurpose platform for the development of field robotic applications as well as applied research applications, e.g. perception, proximal sensing, picking, manipulation and so on.

Husky - Unmanned Ground Vehicle

Description of the device:

Husky is a medium sized robotic development platform. It has a large payload capacity and an high-torque drive-train.

Technical specifications:

Dimensions (External) 990 x 670 x 390 mm
Dimensions (Internal) 296 x 411 x 155 mm
Own Weight 50 kg
Max Payload 75 kg
Drivers and APIs ROS, C++ Library, MathWorks

Applications in the laboratory:

It is used as a multipurpose platform for the development of field robotic applications as well as applied research applications, e.g. perception, proximal sensing, picking, manipulation and so on.

Unitree Robotics A1

Description of the device:

Unitree A1 is a fully functional four-legged robotic dog. It is robust and can perform jumps, flips, and can travel ten feet or seven miles per hour. The strong motor and flexible joints are some primary reasons behind such rapid actions. The robot features different sensors assisting it efficient in decision making.

Technical specifications:

Sensors Depth Camera, Foot Pressure Sensors
External Interfaces HDMI, Ethernet, USB 3.0
Joint Torque 33.5 NM
Max Speed 3,3m/s
Payload 5 Kg
Dimensions 500 x 300 x 400mm
DoF  12

Applications in the laboratory:

It is used as a multipurpose platform for the development of field robotic applications as well as applied research applications, e.g. perception, proximal sensing, picking, manipulation and so on.

Robotic Manipulators

Universal Robots UR5e

Description of the device:

The UR5e is the medium-sized member of the Universal Robots family. It is ideal for automating low-weight processing tasks thanks to its 5 kg payload and 850 mm reach radius.

Technical specifications:

Degrees of freedom 6 rotating joints
Payload 5 kg / 11 lbs
Repeatability ±0.03 mm, with payload, per ISO 9283
Weight with cable 20.6 kg / 45.4 lbs
Reach 850 mm / 33.5 in
Motion Range Base: ± 360°, Shoulder: ± 360°, Elbow: ± 360°,

Wrist 1: ± 360°, Wrist 2: ± 360°, Wrist 3: Infinite

Maximum Speed Base: ± 180°/Sec, Shoulder: ± 180°/Sec,

Elbow: ± 180°/Sec, Wrist 1: ± 360°/Sec, Wrist 2: ± 360°/Sec,

Wrist 3: ± 360°/Sec

Applications in the laboratory:

It is used to give the mobile robotic platforms the possibility to grasp and move objects in the working environment.

Controllers

Brunner CLS-E

Description of the device:

The Brunner CLS-E Active Force Feedback Joystick finds perfect application for applic

ations where a modern stick solution is used for system control. It provides excellent quality, highest fidelity and unique durability. at an unmatched price-performance level.

Technical specifications:

Degrees of freedom 2
Brunner Drop-In: fully integrated, with built-in control unit and 36VDC power inlet (ext. power supply included)
Motors Long life brushless DC technology
Feedback Technology Contactless high-resolution position feedback
Cooling Passive cooling with no fan, so very quiet and efficient
Support X-Plane, FSX, FSX Steam edition, Prepare-3D with Brunner CLS2SIM SW, X-Plane Plugin for Windows, Linux

 Applications in the laboratory:

Together with the mobile robotic platforms, it is used for the remote control of field robotic applications.

Nvidia Jetson TX2

Description of the device:

Jetson TX2 is the fastest, most power-efficient embedded AI computing device. This supercomputer on a module brings true AI computing at the edge. It's built around an NVIDIA Pascal™-family GPU and features a variety of standard hardware interfaces that make it easy to integrate it into a wide range of products and form factors.

Technical specifications:

GPU 256-core NVIDIA Pascal™ GPU architecture with 256 NVIDIA CUDA cores
CPU Dual-Core NVIDIA Denver 2 64-Bit CPU
Quad-Core ARM® Cortex®-A57 MPCore
RAM 8GB 128-bit LPDDR4 Memory
1866 MHx - 59.7 GB/s
Storage 32GB eMMC 5.1
Power 7.5 W
Wi-fi Yes

Applications in the laboratory:

It is used as computing centre and controller for robotic applications as well as applied research applications.

Manufacturing and Prototyping

Ultimaker S3

Description of the device:

The Ultimaker S3 is a professional FDM 3D printer with dual extruders for printing medium-sized composite materials with a quality comparable to industrial printers, thanks to the tight integration of hardware, software and materials.

Technical specifications:

Technology Fused filament fabrication (FFF)
Print Head Dual-extrusion print head with a unique auto-nozzle lifting system and swappable print cores
Build Volume 230 x 190 x 200 mm
Build Speed < 24 mm3/s
Layer Resolution 0.4 mm nozzle: 200 - 20 micron
Dimensions 94 x 489 x 637 mm
Connectivity Wi-Fi, LAN, USB port

Applications in the laboratory:

It is used to prototype custom components for our field robotic applications.

GP-proto CNC GP070-USB-D2

Description of the device:

GP070 series models are 3-axis interpolated bench-top pantographs with integrable fourth axis. This makes them suitable for all two- and three-dimensional machining operations such as cutting, engraving and machining of complex geometries. They also offer a height-adjustable spindle support to compensate for tool length in deep milling.

Technical specifications:

Number of Axis 3
Working Area 450 x 600 x 140mm
X -Y axis speed 5000 mm/min
Z axis speed 1200 mm/min
Weight 60 Kg
Axis resolution 0.00125 mm

Applications in the laboratory:

It is used to manufacture mechanical components for our field robotic applications.

Sensors

Sensors

Description of the devices:

Our robots are equipped with state-of-the-art sensors for perception and mapping of the surrounding environment. In particular, we have at our disposal:

    • Lidars
    • GPSs
    • IMUs

Vision Systems

Vision Systems

Description of the devices:

Stereo image sensing technologies use two cameras to calculate depth and enable devices to see, understand, interact with, and learn from their environment — powering intuitive, natural interaction and immersion.

  • ZED 2 Stereo Camera
  • Intel RealSense Depth Camera D455

Unmanned Ground Vehicle Prototypes

Losi Desert Buggy XL-E

Description of the device:

Starting from Losi Desert Buggy XL-E electric dune buggies, two unmanned ground vehicle prototypes have been developed by substituting the remote controller with an embedded board.

 

Technical specifications:

Sensors RTK2B GPS
External Interfaces RF Modem, GNC Wireless Modem
Weight 13,8 Kg
Max Speed 80 km/h
Traction 4WD
Dimensions 844 x 501 x 308 mm

Applications in the laboratory:

It is used as test-bench to evaluate navigation and control algorithms for outdoor applications.