Laboratory & Infrastructure

Rolling humanoid

The humanoid-wheeled hybrid robotic platform represents a remarkable fusion of humanoid and wheeled locomotion, combining the versatility of both forms of movement. This creation is outfitted with a Phidget SBC3 computer, providing robust computational capabilities, and an SSC-32 servocontroller, enabling precise control over its servo motors. This didactic robotic platform seamlessly integrates the Phidget SBC3's computing prowess with the SSC-32 servocontroller's precision, resulting in a highly adaptable and responsive system. Whether navigating complex environments or executing intricate tasks, this platform exemplifies the synergy achieved through the convergence of computing and precise servo control.

Rover A4WD1

Aluminum 4WD1 Rover Mobile platform instrumented with a Phidget SBC3 computer, an SSC-32 servocontroller and two Sabertooth drivers.

Hexapod

Hexapod mobile platform platform instrumented with a Roboard computer and an SSC-32 servocontroller.

Apolo

P3-AT Mobile Robotics teleoperable platform instrumented with two Unibrain Fire-i and odometric sensors.

Orion

A P3-AT platform equipped with a Kinect and an on-board computer.

Venus

P3-AT robotic platform instrumented with a Unibrain Fire-i camera.

Akiles

P3-AT robotic platform used mainly for teleoperation experiments.

Hercules

P3-AT mobile robot equipped with a sensor suite, three Unibrain Fire-i for panoramic vision and two CMU for binocular vision. It uses a FPGA for data processing and numeric analysis, and a control board which allows communication with inertial sensors and actuators.

Amigobots

It's a team of ten mobile robots deployed for experimental assignments of Undergraduates Robotic's class. These robots are instrumented with a ring of eight ultrasonic sonar's, encoders and wireless technology. They are used for mapping and navigation experiments.

Peoplebot

It's a mobile robot that has been instrumented with multiple sensors and capabilities such as LIDAR, pan-tilt camera, sonars, inertial unit, a touchscreen and a voice recognition system.

Spherical Probe

Spherical robot with an underactuated control of a dual-rotor.

Rover 4W4D

Home-made four-wheel, four-drive robotic platform with magnetic encoders.

"Klann-Jansen" platform

Home-made robotic platform based on a kinetic designs by Joe Klann and Theo Jansen.

"Jansen" platform

Home-made robotic platform based on a kinetic design by Theo Jansen.

Quadruped platform

This robot is a home-made quadruped platform with underactuated legs based on Klann mechanisms. Its trajectory is controlled by a velocity-based control approach, which feedbacks speed through home-made low-resolution odometers of Hall-effect.

Robbie

Home-made two-wheeled robot, with two crazy wheels and instrumented with a Cerebot 32MX4.

Sensing Suite

Sensor suite with three Unibrain Fire-i for panoramic vision and two CMU for binocular vision. It uses a FPGA for data processing and numeric analysis, and a control board which allows communication with inertial sensors and actuators.

Robotic arms

Home-made omnidirectional robotic platforms with circular shape. They use omni-wheels in order to move in any direction. With these platforms.

Both arms are instrumented with an SSC-32 servo-controller,e one with USB connection and another with Serial.

Doraemon

Home-made omnidirectional robotic platform with circular shape. Uses omni-wheels in order to move in any direction. Instrumented with a Mini-box computer and a Cerebot 32MX4.

Astroboy

Based in its predecesors, it was created to interact with humans. As a three-wheeled-humanoid, this robot has two cameras that work as eyes, speakers and a microphone to communicate with people and reciev instructions, and inertial sensors.

Omnibot type platforms

Home-made omnidirectional robotic platforms with circular shape. They use omni-wheels in order to move in any direction. With these platforms, we perform 3D monocular vision and control position tasks with inertial sensors. All three are instrumented with an Mini-box computer.

Omnibot. It has a container and a water pump that has been used to develop irrigation tasks. In order to detect its targets, it uses a webcam. It also has a voice system that allows the robot to speak.

Astroboy. Based in its predecesors, it was created to interact with humans. As a three-wheeled-humanoid, this robot has two cameras that work as eyes, speakers and a microphone to communicate with people and reciev instructions, and inertial sensors.

Rover

Home-made four-wheeled robot, its instrumented with a motherboard, inertial sensors and a web cam. It has the ability to return to its place when the batteries needs to recharge.

FTCH

Home-made all-terrain robot used for localization purposes, its equipped with a Mini Box and a camera, which are managed by a motherboard.

Popeye

It is a 4WD all-terrain wheele mobile robot with independent spring-mass suspension system. Has been designed and deployed for skid steer trajectory control algorithms in outdoors. It's equipped with GPS, AD-HOC wireless technology, inertial units such as accelerometers, gyros, compass, etcetera.

Yoshimpy

Home-made all-terrain platform made for localization and control position tasks. For this purposes has been equipped with inertial units and a vision sensor.

Frankie

Home-made platform, with two wheels and a castor wheel. Instrumented with a LIDAR sensor and a Mini-box.

Skybot

Home-made aerial robotic quadrator platform. Its made with a lightway material and a metalic camera filled with helium to help the platform to fly and stabilize. It has four mottors with propellers, a 28gr computer. This robot can be controlled with a GUI specially designed for it or with a joystick.

Osunita

Is a home-made differential control robotic platform deployed for control position and localization tasks. It has four wheels and is controlled with a netbook. It has a variety of sensors on it: a webcam, inertial sensors and a LIDAR sensor.

SAMURAI Arquitecture

Operating System for Distributed Robotic System named as SAMURAI (Sistema de Arquitecturas de MÚltiples Robots Autónomos Integrados. for its Spanish initials), and robotic KatanaLibs.

The Katana Libraries were developed in the laboratory, and are used to manage a variety of sensors to accomplish robotic tasks such as: Vision, Teleoperation, Numeric Computing, Control, etc., in a Real-Time scheme.

SAMURAI Meta OS Commands:

https://www.youtube.com/watch?v=eGmHn1XTDK8

SAMURAI Meta OS Scripts:

https://www.youtube.com/watch?v=PtxGfc88t4Q

High Performance Cluster

Most of the tasks developed in the lab requires a high computing capacity, for this reason a high performance cluster has been configured in four of the lab's computers. This technique uses parallel computing by using labor division between the computer cores. In total, our 'Greek Island Cluster' is conformed of 24 cores, 16 are physical and 8 virtual. This cluster has allowed students to process information from all experiments at a greater rate, reducing the computing time.