Description
ROSpider is an intelligent vision-based hexapod robot developed on the ROS operating system. It is equipped with 45KG high-voltage bus servos, based on Jetson Nano B01 as the main controller it features:
- LiDAR
- 3D depth camera
- IMU sensor
- far-field microphone array
- speaker
- electric pan-tilt
- OLED LCD screen
...and other high-performance hardware configurations. It also comes with advanced kinematic gait algorithms, allowing for flexible transitions between various complex gaits. The robot's body posture, height, speed, and stride can be continuously adjusted.
Due to its powerful controller, the ROSpider robot possesses various functionalities, including gait control, remote communication, mapping and navigation, path planning, obstacle avoidance while following, voice recognition, sound source localization, and voice guidance. Additionally, it can perform AI vision applications such as object recognition, gesture control, target tracking, and mask detection.
ROSpider hexapod robot is suitable for educational experiments, scientific research, and innovative practices. It not only fulfills users' needs for learning and validating hexapod robot kinematic algorithms and path planning navigation algorithms but also offers a quick and convenient integration solution for depth learning, computer vision, and voice interaction for secondary development. We provide comprehensive courses and teaching materials, along with open-source Python code for the robot, to assist users in better understanding related knowledge.
Specifications:
- Size：
- Body shell length：253mm
- Body shell width：141mm
- Single leg rotation radius：258mm
- Maximum width in the expanded posture：738mm
- Weight：3.8KG
- DOF：19
- Body material：6061 Hard aluminum alloy material with surface black oxidation treatment
- Battery：11.1V 5000mah10C Lipo battery
- Operating system：ROS Melodic
- Programming Tool：Python
- Depth Camera：OREEBECR Astra Pro Plus
- Lidar：SLAMTEC S2L
- Control method：Computer /mobile app/handle
- APP Name：WonderROS (Android and IOS)
- Controller：Jetson Nano Board +Jetson Nano Expansion
- Jetson Nano Board：
- GPU : NVIDIA Maxwell architecture, equipped with 128 NVIDIA CUDA cores.
- CPU：4-core ARM Cortex-A57 MPCore processor
- Memory: 4GB 64-bit LPDDR4.
- Storage：32GB Class 10TF
- Jetson Nano Expansion Board:
- 9-channel bus servo interfaces
- 2-channel PWM servo interfaces
- 2x GPIO interfaces (4Pin)
- 2x IIC interfaces (4Pin)
- 1x communication serial port
- Built-in switches
- DC power interface
- Buzzer
- LED lights
- 2x programmable buttons.
- Depth Camera（Astra Pro Plus):
- 3D technology：ORBBECR monocular structured light
- Scope of work：0.6~8m
- Field of view（FOV): H58.4°*V45.8°
- FOV（RGB): H66.73°xV40.19°@1920x1080, H66.99x°V40.37°@1280x720, H60.60°xV46.81°@640x480
- Depth processing chip：MX6000
- Data interface：USB2.0
- Size：164.85x48.25x40mm
- Close protection：Supported
- Lidar（SLAMTEC S2L):
- Model：SLAMTEC S2L
- Dimension：Bottom diameter 77mm，Total height 38.85mm
- Measurement method：TOF distance measurement
- Supply current：400mA
- Communication interface：TTL UART（3.3V level）
- Angular resolution：0.12°
- Scanning radius：0.05-30m for white objects，＞10m for black objects
- Measurement blind zone：0.05m
- Sampling frequency：32KHz
- Scanning frequency：15hz
- Servos：HTD-45H Hight-voltage bus servo & HTS-20H High Voltage Bus servo
- HTD-45H Hight-voltage bus servo:
- Brand：HiWonder
- Weight：64g
- Size：51.1mmx20.14mmx40mm
- Shell material: Aluminum alloy middle shell, orange anodized surface
- Torque：45KG.cm 11.1V
- Working voltage：9V-12.6V
- Speed：0.18sec/60° 11.1V
- Ports：three ports
- Angle control range : 0-1000, corresponding to 0°-240°
- Protection：avoid stalling and overheat
- Stalled current：3A
- Servo accuracy：0.2°
- Control method：UART serial command
- Gear type: Stainless steel gear
- Connector：PH2.0-3P
- Communication baud rate：115200
- Servo ID：0-253 for user setting，ID 1 is default
- Data feedback: temperature, voltage, position
- HTS-20H Hight-voltage bus servo:
- Brand：HiWonder
- Weight：58g
- Size：54.38mm*20.04mm*45.50mm
- Torque：20KG.cm 11.1V
- Working voltage：9V-12.6V
- Speed：0.18sec/60° 11.1V
- No-load current：100mA
- Rotation：0°-240°
- Protection：avoid stalling and overheat
- Stalled current：3A
- Servo accuracy：0.2°
- Control method：UART serial command
- Angle control range : 0-1000, corresponding to 0°-240°
- Gear : metal
- Connector：PH2.0-3P
- Communication baud rate：115200
- Storage: save data when power off
- Servo ID：0-253 for user setting，ID 1 is default
- Ports：three ports
- Data feedback: temperature, voltage, position
- Working mode：servo mode and deceleration motor mode
- 6-Microphone Array and Speaker:
- Diameter: 85mm
- Pickup distance：3.5m
- Sound source localization accuracy：1°
- Noise reduction：support
- Language：Mandarin & English
- Linux development：complete SDK routine is provided for offline voice command recognition,recognition result, wake-up angle and audio feedback
- Speaker size：30x70mm
- Number of speakers：Two
- RGB LED ring module:
- 4PIN interface
- 5 independent RGB lights, each with adjustable colors, adjustable color levels: 255x255x255
- RGB LED model：WS2812B
- Voltage：3.3V/5V
- Aperture：M3
- OLED LCD screen module:
- 4PIN interface
- Multiple control commands for adjusting brightness, contrast, etc.
- Can display Chinese characters, ASCII, graphics, etc.
- Voltage：5V
- Size：50x20mm
- Software：VNC software, Upper machine software, and Android/iOS mobile app software.
- Product List：
- ROSpider Robot (assembled, including mianboard)
- Tags
- PS2 handle
- Card reader
- 12V charger
- USB flash drive
- Screwdriver
- Balls
- Learning Materials：We provide a complete set of teaching materials, including ROS courses and case studies, real-person instructional videos on image LiDAR path planning navigation, machine vision applications, gameplay instructional documents and Python code, Android and iOS mobile app software, VNC software, and upper machine software
- Function：RTAB-VSLAM 3D visual mapping and navigation, LIDAR mapping and navigation, KCF object tracking, group control and formation, object recognition and tracking, tag recognition, gesture recognition, motion control, body self-balancing, LIDAR obstacle avoidance, radar tracking, far-field sound source localization, speech recognition, and speech navigation.
- Patent and Software Copyright：
- Title: Three-port Servo, Patent Number: ZL201830387941.4
- Title: Lehuansuor Bus Servo System Software, Registration Number: 2017SR194010