55-8102-23_Humanoid_Robot_Specs_Sys3.docx

CIP: "Humanoid Robots for Interaction" – System Three

A quadruped robot that provides basic capabilities of balance and walking in uneven terrain but also affords the user access to modify or replace the low-level motor/leg controller software for situations where development of such control software is integral to user's research and application area. For example, a robot for use in shipboard environments requires development of control capabilities specific to maintaining balance in various sea states with as experienced by different ship classes and with different ship maneuvers. The robot must have integrated sensors for sensing dynamic environments and a software SDK/API to allow user access to the factory software and sensor data, to implement mid-level level capabilities, and for development of high-level research application software.

Quantity: 1

Basic Features:

· Quadruped robot

· Must be able to stand and walk on irregular, uneven, or sloped (up to 20 degrees) surfaces

· Must be able to react to unexpected external forces (being "pushed" or "knocked") to maintain balance

· Must be able to step on or over a minimum 9 inch-high step

· Automatic foot placement and balancing for standing, walking and stairs ascent/descent with only high-level user control

· Must provide kinematic odometry assisted by inertial measurement unit

Physical:

· Weight in operating order: not to exceed 65 kg

· Top walking speed of at least 1.5m/s, minimum speed 0.0m/s

· Mounting points for attaching user-supplied hardware to body

· Onboard power and data connections available for user-supplied hardware

· Payload minimum (body mounted) - 10kg

· Ingress protection of IP54 or better

· Impact resistant body panels to minimize risk of damage to robot from collisions/falls

Sensing:

· Minimum object detection sensing range/resolution/field-of-view:

· Any laser sensors must be Class 1 eye-safe per IEC/EN 60825-1:2014

· Onboard color video with 360 degree coverage (minimum resolution of 480p and 10 Hz)

Power:

· Battery powered, tether-free operation

· Operating time of at least 90 minutes on a single battery charge

· Spare battery

· Ability to simultaneously charge a battery installed in the robot, and a battery independent of the robot

· Ability to autonomously move and connect to a charging station (desired, not required)

Networking/Computing:

· Wireless networking (IEEE 802.11ac, 5Ghz) to support off-robot monitoring, control, and data collection, via an SDK/API detailed below or any other interface

· Must be able to operate normally both connected to and disconnected from the internet

· Spare or additional linux-based, Nvidia GPU computing capacity to support running user applications onboard the robot

Controls/Software:

· Provide mid-level capabilities including localization/mapping/navigation/collision avoidance, with SDK/API hooks for user software (desired, not required)

· Must support teleoperation

· Must support autonomous operation (by user application) via a supplied software development kit (SDK) or application programming interface (API). The SDK/API should allow user programs to retrieve sensor and state data, and issue any/all provided joint/motion control or behavioral (e.g. navigate to goal, pick up object) commands in response to a sensed, dynamic environment. Pre-recorded motions/playback are not sufficient to meet this requirement.

· Must support autonomous operation (by user application) via a supplied software development kit (SDK) or application programming interface (API). The SDK/API should allow user programs to retrieve sensor and state data, issue any/all provided joint/motion control (e.g. applying torques to motors) or mid level behavioral commands (e.g. navigate to goal, create/manipulate environment map) in response to a sensed, dynamic environment. Pre-recorded motions/playback are not sufficient to meet this requirement.

· Compatible with Ghost Robotics' C++ API (desired, not required)

· Include a Robotics Operating System (ROS) node or nodes for control and data export for use with 3rd party ROS software stacks (desired, not required)

Support:

· Minimum 1 year warranty coverage

· Documentation for all software and hardware, particularly for software SDK/APIs and hardware interfaces for user supplied hardware

· Documentation for setup, configuration, and operation

· Technical support for updates and bug resolution with option to buy additional support