UNCONVENTIONAL WHEELS A ROBOT IN EVERY （非传统的轮子在每一个机器人）.pdf

PR Lite — Build Your Own PR2 Running Running ROS ROS FIGURE 1. PR-Lite next to Willow Garages PR2 at RoboGames 2010. by Alan, Andrew, and Matthew Downing, Nathaniel Lewis, and Frank and Robert Ou How would you like a robot that can play pool, fold towels, and bring you a drink from the fridge? We’d like one too, but don’t want to spend $400,000 for a PR2 from Willow Garage. PR2 is built with high-end components so that research on robotics software can progress in anticipation of ultra-low cost components becoming available down the road. 62 SERVO 12.2011 /index.php?/magazine/article/december2011_PRLite Discuss this article in the SERVO Magazine forums at . In many ways, that day has already PPRR LLiittee PPRR22 arrived, as embodied by the $150 Kinect Kinect (two cameras with LED Three cameras with LED texture and the low cost LIDAR used by the Neato Head Camera texture projector for 3D vision) projector for 3D vision robotic vacuum cleaner. These new sensors Base LIDAR Neato Hokuyo UTM-30LX and servos with feedback — like the Dynamixel AX-12+ servos — enable a Tilting LIDAR Hokuyo URG-04LX-UG01 Hokuyo UTM-30LX personal robot with PR2-like capabilities to Arm DOF 5 (shoulder pan, tilt, elbow, wrist 7 (includes forearm be within reach of a robotics club. rotate, left finger, right finger) and upper arm roll) Furthermore, the Robot Operating System Arm Payload 2.5