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as well as how to schedule some time with the robot.
- Stereo Camera
- Digital Camera
- Microphone
- Range Camera
- Neck
- Safety Light
- Whole Arm Manipulator (WAM)
- Hand
- Stereo Camera
- Point Grey Bumblebee2
- Resolution of 640 x 480
- Operates at rates up to 48 fps
- Allows for perception of objects in 3-dimensions
- Range Camera
- Mesa Imaging SwissRanger 4000
- Resolution of 176 x 144
- Operates at rates up to 54 fps
- Provides highly accurate distance measurements
- for all items in the field of view
- Color Camera
- Allied Vision Technologies Prosilica GC2450C
- Resolution of 2448 x 2050
- Operates at rates up to 65 fps
- Provides a high resolution image, at a high
- frame-rate for fine manipulation or highly
- detailed object recognition
- Microphones
- Two Audio-Technica Condenser Hanging
- Microphones
- 44.1 kHz, 16-bit capture
- Allows for sound recognition of objects actuating
- or objects sliding across a surface
- Neck Unit
- Two Pan/Tilt Units (upper and lower)
- Upper Pan of -90 deg to 90 deg
- Upper Tilt of -75 deg to 30 deg
- Lower Pan of -168 deg to 168 deg
- Lower Tilt of -70 deg to 70 deg
- The neck provides a means to move the sensor
- head, expanding the area of work significantly
- Safety Light
- Custom LED Board
- Color changes depending on the state of
- the robot
- Manipulator Arms
- Two Barret Whole Arm Manipulators (WAM)
- Seven Degrees of Freedom
- Force/Torque sensor at the end of the wrist
- Manipulator Hands
- Two Barret Hands
- Three Fingers: 1 fixed, 2 with controllable spread
- Each finger has one knuckle joint and one
- breakaway joint
- 24 Segment pressure pad on each finger and
- on the palm