PR2 – Willow Garage

OVERVIEW

Personal Robotics, Mobile Manipulation

Personal robot applications enable people to make themselves more productive at home and at work.

PR2 combines the mobility to navigate human environments and the dexterity to grasp and manipulate objects in those environments.

Community

PR2 allows you to concentrate on your specific field, while taking advantage of the work of specialists in other areas.

The PR2 hardware platform and 1000+ software libraries enable you, as a member of the community, to focus on new capabilities.

The common platform also lets you easily share your research results in a way that is reproducible.

Freedom to Innovate

The PR2 is an open platform. You can change the system to meet your needs at any level.

PR2 is designed to be durable so that you can experiment with new ideas and applications directly on the robot.

DESIGN

Hardware and Software Platform for Mobile Manipulation R&D

Manipulation

Backdriveable Arms

PR2's arms are backdriveable and current controlled so PR2 can manipulate in unstructured environments.

Spring Counterbalance

PR2's arms have a passive spring counterbalance system so the arms float even when the power is off.

Wrist

PR2's wrist has two continuous degrees of freedom and lots of torque so PR2 can manipulate everyday objects from doors to frying pans.

Gripper

PR2's gripper can grasp everything from towels to tea cups, and brooms to brews

Mobility

With a telescoping spine and an omnidirectional base that completed a marathon, PR2 can work where you need it.

Sensors Everywhere

PR2's sensor suite and sensor processing and calibration libraries let you fuse information from several sensors easily.

PR2's Two On board Servers

You don’t want computing power to be the first limit you hit on a robot. PR2’s two on board servers let you take advantage of its manipulation, mobility and sensing capabilities.

Modular

Open interfaces let you use different grippers, forearms, whole arms or sensors.

Power to Go

The 1.3 kWh battery system can run the servers and robot at full tilt for

2 hours. On board chargers let PR2 run while plugged in and charging.

EtherCAT

A single EtherCAT bus gives you real time, deterministic control of all your motors at 1 kHz while also providing accurate triggering of all your cameras.

Ethernet + WiFi

With a 32 gigabit backplane and multigigabit connection to each server, the gigabit Ethernet network handles all the camera data and the dual radio WiFi with ease.

Hardware Specifications

Arms (SE model: right arm only)

Arm DOFs

1. A Arm :: 4

2. B Wrist :: 3

3. C Gripper :: 1

Arm Link Lengths

Upper Arm :: 400 mm

Forearm :: 321 mm

Wrist to Gripper Surface :: 120 to 200 mm

Arm Force Output

4 DOF Passive Counterbalance

Arm Payload :: 1.8 Kg (4 lbs)

Wrist Torque :: 4 Nm (3 ft lbf)

Grip Force :: 80 N (18 lbf)

Arm Range of Motion

Shoulder Pan :: 170°

Shoulder Tilt :: 115°

Upper Arm Roll :: 270°

Elbow Flex :: 140°

Forearm Roll :: Continuous

Wrist Pitch :: 130°

Wrist Roll :: Continuous

Gripper :: 90 mm max

Head, Spine & Base

1. A Pan Tilt Head

Pan :: 350°

Tilt :: 115°

2. B Telescoping Spine

Height Range from Floor to Top of Head:

Short :: 1330 mm (4 ft 4.4 in)

Tall :: 1645 mm (5 ft 4.7 in)

3. C Omni Directional Base

Casters :: 4 Steered and Driven

Base Width & Depth :: 668 mm

Speed :: 1 m/s

Computing

1. D 2x Onboard Servers

Processors :: Two Quad-Core i7 Xeon Processors (8 cores)

Memory :: 24 GB

Externally Removable Hard Drive :: 1.5 TB

Internal Hard Drive :: 500 GB

In the Box

Base-Station Computer

Joystick

Power Cable

Self Plug-in Cable

Small Calibration Target

Large Calibration Target

Sensors

1. A Head

Microsoft Kinect

5-Megapixel Global Shutter Color Gigabit Ethernet Camera (1-Megapixel on SE)

Environment Stereo Camera: Wide-Angle Global Shutter Color Stereo Ethernet Camera (NOT on SE)

Manipulation Stereo Camera: Narrow-Angle Global Shutter Monochrome Stereo Ethernet (NOT on SE)

LED Texture Projector Triggered with Narrow-Angle Stereo Camera (NOT on SE)

2. B Above the Shoulders

Tilting Hokuyo UTM-30LX Laser Scanner

Microstrain 3DM-GX2 IMU

1. CForearm

Global Shutter Ethernet Camera

2. DGripper

Three-Axis Accelerometer

Fingertip Pressure Sensor Arrays (NOT on SE)

Calibration LED

3. E Base

Hokuyo UTM-30LX Laser Scanner

Networks

1. Gigabit Ethernet

32 Gigabit Backplane Switch

Multi Gigabit Connection to Each Server

All Cameras on Gigabit Network

2. EtherCAT Network

1kHz Control to All Motors

Exposure Triggering of Forearm Cameras, Environment Stereo, Manipulation Stereo, and Texture Projector to Better than 1 ms

1. Wireless

Dual-Radio WiFi

Dedicated Service Access Point

Bluetooth Access Point

Power System

1. Batteries

1.3 kWh Lion Battery Pack

2 hrs Approximate Runtime

2. Onboard Power Supplies

Power Supplies Can Charge and Run the Robot at the Same Time

3. Power Board

Full Software Control and Diagnostics Over Ethernet

High Speed Circuit Breakers

1. Run-Stops

Run-stops instantly disable all the motor drivers while still leaving all the sensors, servers and motor board diagnostics running.

Built in run-stop button on the back of the robot.

Wireless run-stop can be worn on a belt or put next to a keyboard.

Sensor Modularity And Extensibility

A Modularity Bolt Pattern on Pan Tilt

Platform Ethernet

Ships with Wide FOV Color Stereo

Camera Narrow FOV Mono

Stereo Camera LED Texture Projector 5MP Global Shutter

Camera

B Modularity Bolt Pattern on Sides of

Head USB/Ethernet

C Modularity* Tilting Stage

Ships with Planar Laser Scanner

D Modularity* Removable Fingertips

Ships with Pressure Sensor Arrays

E Modularity* Forearm Camera Bays

Ships with Ethernet Cameras

F Modularity* Bolt Pattern on Base USB/Ethernet

Ships with Planar Laser Scanner

G Modularity*Computer Bay

Firewire/USB/EthernetShips with

2x Xeon Boxes

A Modularity Removeable Full Arm

Leave Behind Telescoping Spine Base Head Other Arm

Electrical Interface EtherCAT Battery Ethernet Regulated 12v

B Modularity Removeable Gripper

Leave Behind Full 7 DOF Arm

Electrical Interface EtherCAT Battery

C Modularity Removeable Full Forearm

Leave Behind 5 DOF Arm

Electrical Interface EtherCAT Battery Ethernet Regulated 12v

D Modularity Bolt Pattern on Top of Base

Electrical Interface Ethernet Power USB PCI Express Expansion Slo

Possibilities for Robot Applications

Work Life

From services to manufacturing, people spend

a lot of time doing repetitive tasks. You could

make someone an App for their tedious tasks

making them more productive and their work

more enjoyable.

Personal Life

From doing dishes to doing laundry, Apps

could do a lot of things we would rather leave

to a robot.

Independence

For someone who would otherwise

need to live in an assisted facility, you

could make an App to let them live

independently.

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