Engineering:E-puck mobile robot

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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[1] and sold[2] 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:[3]

  • a turret that simulates 1D omnidirectional vision, to study optic flow,
  • ground sensors, for instance to follow a line,
  • color LED turret, for color-based communication,
  • Zigbee communication,
  • 2D omnidirectional vision,
  • magnetic wheels, for vertical climbing,
  • Pi-puck extension board, for interfacing with a Raspberry Pi single-board computer.

Scientific use

Since the e-puck is open hardware, its price is lower than competitors.[4] This is leading to a rapid adoption by the scientific community in research[5] despite the original educational orientation of the robot. The e-puck has been used in collective robotics[1] [2] [3], evolutionary robotics [4], and art-oriented robotics [5][yes|permanent dead link|dead link}}] [6][7].


References

  1. ↑ GCtronic and AAI
  2. ↑ Cyberbotics , RoadNarrows Robotics , and K-Team
  3. ↑ see extensions section at e-puck.org
  4. ↑ the e-puck costs around 950 CHF at time of writing, while the Khepera is around 3000 CHF
  5. ↑ A search on Google scholar of e-puck + mobile + robot returns 528 papers (2012-01-05)

External links

  • Homepage - the e-puck project homepage
  • e-puck at Mobots - the e-puck homepage at Mobots, the group who developed the e-puck
  • e-puck at gna - the gna page of e-puck onboard software
  • e-puck model - Documentation of the e-puck model in the Webots robotics simulator.
  • Cyberbotics' robot curriculum - a robotics curriculum based on the e-puck robot
  • [8] - epuck2 MATLAB kernel



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