Junior
Junior is an ATRV-Jr 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: Front and Back Canon VC-C4 PTZ Cameras, Carbon Dioxide Sensor, Software control of 12 Volt devices, 4-port Simultaneous Framegrabber, FLIR Thermal Imager, 802.11a/g Wireless, Intel Core 2 Duo with 4GB of DDR2 RAM, and Linux Kernel 2.6.1.
Current research: Multi University Research Initiative: SUBTLE
Wheeley
Previously named Wheelesley, Wheeley 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.
Current research: Stereo Vision SLAM for a Robotic Wheelchair
Past research: Wheelesley Project Page
Tragus
Tragus is a VGTV (Variable Geometry Tracked Vehicle) and is a tele-operated, tethered robot. It is capable of changing its shape, depth rated to 100 feet, and equipped with a color zoom camera, two-way audio, and lights. Sensors and small equipment can be carried by Tragus into search areas.
Current research: Situation Awareness for VG Robots
Zeke
Zeke is an Inuktun VGTV 3000 on loan from American Standard Robotics. He has a camera, lights, microphone, speaker, and can carry many small sensor payloads. His tank-like chassis design allows him to change shape or "polymorph" into several useful configurations. He is used for urban search and rescue research and educational outreach.
Manus ARM
The Manus Assistive Robotic Manipulator (ARM) is a commercially available wheelchair mounted robot arm developed by Exact Dynamics. It was designed to assist with general activities of daily living and can function in unstructured environments. The Manus ARM is a 6+2 degree of freedom arm that can be controlled in both joint and Cartesian space by a keypad, joystick, single switch, or computer.
Current research: Visual Control Interface of a Wheelchair Mounted Robotic Arm for Cognitively Impaired Wheelchair Users
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.
Neo
Neo is a Pioneer 3 robot, also manufactured by MobileRobots and similar to Morpheus. He is a standard Pentium 3 Linux box with a full sonar ring and a Canon VC-C4 PTZ camera. He was used in the Mobile Robotics 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.
