The robot TIAGo Pro
The robot that will be used for the competition will be PAL Robotics' TIAGo Pro. The robots will be provided by PAL Robotics themselves and will be available for all the contestants. Tentatively, 2 units will be available for the Mobile Manipulation Track.
All contestants will be asked to used the provided TIAGo Pro robots, that will be identical. No changes in the platform will be allowed: the contestants would have to use the end-effectors and sensors that the robot features by default.
Robot sizing¶
TIAGo Pro is a mobile manipulator that has
- Omnidirectional drive by means of 4 Mecanum wheels. The length of the base is 717mm and the width is 488mm.
- A lifting torso with 35cm range, where there are
- 2 7 degrees-of-freedom (dof) arms with a length (fully extended without grippers) of 880mm. On top of the torso there is also a
- 2 dof head (pan-tilt) with an RGB-D camera integrated.
The arms can reach a height of 1.80m and can also reach the floor.
Power sourcing¶
TIAGo Pro features a battery that provides a maximum of about 8h autonomy.
Hardware constraints¶
- The base of TIAGo Pro features 2x long range LIDARs that provides a 360 deg FoV.
- The camera of the head is an RGB-D camera of the RealSense family D4XX with global shutter,
- All degrees of freedom feature encoders that are have available readings.
Computation¶
Computation can be done on-board or off-board on a Laptop that can be placed on the laptop tray of the robot.
- The laptop cannot be charged from the robot
- The laptop can be placed on the laptop tray, but the subjection to it is up to the user.
Communication¶
The TIAGo Pro robot features a router that allows to
- Connect to it as an access point at 2.4GHz,
- Connect to the internet via WiFi at 5GHz (it can connect, for instance, to an access point generated by a cell phone)
The availability of a stable connection to the internet is not the responsibility of neither PAL Robotics nor any of the other RGMC organizers.