• Mercury servo-motor controller

    Mercury servo-motor controllers

  • CAN bus

    Mercury controllers are connected to the internal PC by a CAN bus

  • Marisorgin sensors

    New sensors added to Marisorgin

  • 12V power supply for the PC

    12V power supply for the PC

  • Galtxagorri

    Galtxagorri's front view

  • Galtxagorri

    Galtxagorri side view

  • Tartalo

    PeopleBot platform from MobileRobots

  • Robotinos

    Robotino omnidirectional robot from Festo Didactic

  • NAO

    Aldebaran's NAO humanoid robot

  • Scrapping Kbot

    Scrapping Kbot

  • Original Kbot

    Original Kbot

  • New Kbot

    New Kbot

To see larger images click on them
Nowadays, RSAIT owns several robots with which we can empirically evaluate the developed research. All these robots are controlled using ROS.
  • Marisorgin is an old B21 robot from RWI. It dates from 1996 and it stopped working in 2002. 10 years later and after suffering some internal modifications the robot is now running again. Some of the hardware changes we made:
    • The broken MCP boards were replaced by the Mercury servo drivers manufactured by Ingenia Motors. The boards are connected to the body through a CAN-bus.
    • A ROS driver has been implemented to communicate with the mercury boards. In this manner, the robot can be fully controlled using ROS.
    • Marisorgin was not provided with a laser at the time and it has not the gap between the base and the body to locate a laser. Therefore, a Hokuyo UTM-30LX laser has been set on top of the body, together with a kinect sensor from Microsoft.
    • The old internal PCs have been removed and a new mother board with wifi capabilities has been installed. The new onboard computer is fed by a 12V battery, independent of the batteries contained in the base.
    • An alarm system has been designed so that the low battery state of the computer can be detected.
  • Galtxagorri: this Pioneer-3DX robot from MobileRobots has also suffered some modifications from its initial configuration. In one hand, a Leuze-RS4 was mounted on top of its body (feeded externally to extend duration of the internal batteries and so, the robot's autonomy). Speakers have been also added together with an amplifier and its internal PC is now a MAMBA VL-EBX-37A board with a 2.26GHz Intel(R) Core(TM2) Duo CPU.
  • Tartalo: a PeopleBot robot also from MobileRobots that facilitates human-robot interaction. Its internal PC is now a MAMBA VL-EBX-37A board with a 2.26GHz Intel(R) Core(TM2) Duo CPU.
  • NAO: a humanoid robot from Aldebaran has  recently been purchased to develop human-like body language expression.
  • Robotino: these are omnidirectional platforms from Festo Didactic mainly used for education. They are provided with a webcam and a Hokuyo URG-04LX sensor in order to be able to experiment with mapping and planning techniques.
  • Kbot: a robot built by Neobotix in 2004 for acting as a tour guide at the  Eureka Museum of Science in San Sebastian. In 2006 it was damaged and stored in a garage until 2014. The robot was transfered to the University of Basque Country (UPV/EHU) and our group managed to repair some broken connections, update a few components and implement the necessary drivers and tools to get it back running.