Research Platforms

TIAGo is a mobile manipulator developed by PAL Robotics. We have the TIAGo Omni in our lab, which has an omnidirectional mobile base with four mecanum wheels and a 7 DoF manipulator. The robot is equipped with an RGB-D camera, a laser scanner, a force/torque sensor in the wrist, and a stereo microphone.

The UR10 is a 6 DoF manipulator with a 10kg payload and reach of 1.3m. The robot weighs about 29kg, such that we have it mounted on a custom fixed base. The UR10 is without an end effector by default, but we have developed a custom parallel jaw gripper for it.

The UR3 is a 6 DoF manipulator that weighs about 12kg, such that it has a payload of 3kg and a reach of 0.5m. We have the robot mounted on a custom fixed base.

The ABB IRB 1200 (IRB 1200-5/0.9 Gen2) is a 54kg manipulator with a payload of 5kg and a reach of 0.9m. The robot is mounted on a fixed platform in our lab.

TurtleBot 4 is a compact mobile robotics platform developed by Clearpath Robotics. We have the TurtleBot 4 Lite in our lab, which has a differential-drive mobile base based on the iRobot Create 3 platform. The robot is equipped with a 2D LiDAR, an RGB-D stereo camera, an IMU, and wheel encoders.

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