Att 1 Quadruped_Specs_Sys2.pdf

CIP: "Humanoid Robots for Interaction" – System Two

A quadruped robot that provides a wide range of functionality out of the box, allowing effective teleoperation and high-level application and research area code development without having to re-implement mid-level robot functions (e.g., motion, navigation, mapping, collision avoidance).

An arm and gripper are necessary to demonstrate performance of activities in the application domains and illustrate the benefit of underlying user research. The arm must support direct positioning of the end effector in 6DOF, either relative to the robot's body or the environment, be integrated into the robot's low-level control to maintain balance and assist arm positioning, and provided software solutions for common grasping and manipulation scenarios. An SDK or API to allow user access to the factory software for development of high-level research application software is required.

Quantity: 2

Basic Features:

• Quadruped robot with arm and gripper

• Working envelope matching human-tailored environments (ability to reach from floor to

1.5m)

• 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

• Arm with 6-DOF (degree of freedom) plus additional gripper "grasp" DOF

• Minimum arm extension of 0.9m from base joint

• Payload minimum (arm) - 5kg

• 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:

range: 100m @ 3cm resolution horizontal FOV: 360 degree coverage @ 0.5 degree resolution vertical FOV: 30 degree coverage @ 2.0 degree resolution

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

• Onboard color video with 360 degree coverage (minimum resolution 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

• Multiple instances of the robot must be able to operate simultaneously without network or other resource conflicts/contention

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

Controls/Software:

• Must provide mid-level capabilities including localization/mapping/navigation/collision avoidance, with SDK/API hooks for user software

• Must support teleoperation incorporating mid-level capabilities

• 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, transit door, pick up object, create/manipulate environment map) commands in response to a sensed, dynamic environment. Pre-recorded motions/playback are not sufficient to meet this requirement.

• Arm controls to position the arm by individual joint position

• Higher-level, integrated body and arm controls that afford direct positioning of the end effector/gripper (position and orientation) either relative to the robot's body or relative to the environment, without the need for the user to perform the inverse kinematics, and with the ability to maintain such position while the robot body moves

• Integrated body and arm controls that perform the approach and grasping of objects, and the manipulation and transiting of doors

• Automatic balancing compensation for arm motion or arm-carried payload

• SDK/API interfaces for user software to utilize all arm/gripper control software

• Compatible with Boston Dynamics python 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