E-puck mobile robot

E-puck mobile robot

The e-puck is a small (7 cm) differential wheeled mobile robot. It was originally designed for micro-engineering education by Michael Bonani and Francesco Mondada at the ASL laboratory of Prof. Roland Siegwart at EPFL (Lausanne, Switzerland). The e-puck is open hardware and its onboard software is open source, and is built [http://www.gctronic.com/ GCtronic] and [http://aai.jp/ AAI] ] and sold [http://www.cyberbotics.com/ Cyberbotics] , [http://www.roadnarrowsrobotics.com/acatalog/GCtronic_epuck.html RoadNarrows Robotics] , and [http://www.k-team.com K-Team] ] by several companies.

Technical details

* Diameter: 70 mm
* Height: 50 mm
* Weight: 200 g
* Max speed: 13 cm/s
* Autonomy: 2 hours moving
* dsPIC 30 CPU @ 30 MHz (15 MIPS)
* 8 KB RAM
* 144 KB Flash
* 2 step motors
* 8 infrared proximity and light (TCRT1000)
* color camera, 640x480
* 8 LEDs in ring + one body LED + one front LED
* 3D accelerometers
* 3 microphones
* 1 loudspeaker

Extensions

New modules can be stacked on top of the e-puck; the following extensions are available [see [http://www.e-puck.org/index.php?option=com_content&task=view&id=21&Itemid=48 extensions section at e-puck.org] ] :
* a turret that simulates 1D omni-directional vision, to study optic flow,
* ground sensors, for instance to follow a line,
* color LED turret, for color-based communication,
* ZigBee communication,
* 2D Omni-directional vision,
* magnetic wheels, for vertical climbing.

Scientific use

Because the e-puck is open hardware, its price is lower than competitorsthe e-puck costs around 950 CHF at time of writing, while the Khepera is around 3000 CHF] , which lead to a rapid adoption by the scientific community [http://scholar.google.com/scholar?q=%22e-puck%22+mobile+robot A search on Google scholar of e-puck + mobile + robot] returns 19 papers] despite the original educational orientation of the robot.The e-puck has been used in collective robotics [http://infoscience.epfl.ch/getfile.py?docid=12417&name=JP_icra07&format=pdf&version=1] [http://infoscience.epfl.ch/getfile.py?docid=13861&name=JP_cec2007&format=pdf&version=1] [http://infoscience.epfl.ch/getfile.py?recid=99957&mode=best] , evolutionary robotics [http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4218883] , and art-oriented robotics [http://www.student.bth.se/~jekn05/JK_Thesis.pdf] [http://portal.acm.org/citation.cfm?id=1278280.1278288] .

External links

* [http://www.e-puck.org Homepage] - the e-puck project homepage
* [http://mobots.epfl.ch/e-puck.html e-puck at Mobots] - the e-puck homepage at Mobots, the group who developed the e-puck
* [http://gna.org/projects/e-puck e-puck at gna] - the gna page of e-puck onboard software

References


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