{"id":2,"date":"2016-03-12T10:10:31","date_gmt":"2016-03-12T10:10:31","guid":{"rendered":"http:\/\/babel.isa.uma.es\/crumb\/?page_id=2"},"modified":"2019-10-24T17:08:09","modified_gmt":"2019-10-24T16:08:09","slug":"sample-page","status":"publish","type":"page","link":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/sample-page\/","title":{"rendered":"The Robot"},"content":{"rendered":"<p>The CRUMB robot is a Turtlebot 2 equipped with a Widow X arm, provided by <a href=\"http:\/\/robotnik.es\" target=\"_blank\">Robotnik<\/a>. TurtleBot is a low-cost, personal robot kit with open-source software for education and research.<\/p>\n<p>&nbsp;<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-68 aligncenter\" src=\"http:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/20150916_182330-e1457782192953-225x300.jpg\" alt=\"20150916_182330\" width=\"225\" height=\"300\" srcset=\"https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/20150916_182330-e1457782192953-225x300.jpg 225w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/20150916_182330-e1457782192953-768x1024.jpg 768w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/20150916_182330-e1457782192953-618x824.jpg 618w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/20150916_182330-e1457782192953-333x444.jpg 333w\" sizes=\"(max-width: 225px) 100vw, 225px\" \/><\/p>\n<p>Turtlebot 2 components are:<\/p>\n<ul>\n<li>Kobuki base<\/li>\n<li>Turtlebot structure<\/li>\n<li>Kinect<\/li>\n<li>Netbook (running ROS)<\/li>\n<\/ul>\n<h3>Netbook Specifications<\/h3>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-large wp-image-346\" src=\"http:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/datosnetbook-444x1024.jpg\" alt=\"datosnetbook\" width=\"444\" height=\"1024\" srcset=\"https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/datosnetbook-444x1024.jpg 444w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/datosnetbook-130x300.jpg 130w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/datosnetbook-768x1770.jpg 768w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/datosnetbook-618x1424.jpg 618w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/datosnetbook-193x444.jpg 193w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/datosnetbook.jpg 1089w\" sizes=\"(max-width: 444px) 100vw, 444px\" \/><\/p>\n<ul>\n<li>The CPU is an <a href=\"https:\/\/ark.intel.com\/products\/82103\/Intel-Celeron-Processor-N2840-1M-Cache-up-to-2_58-GHz\" target=\"_blank\">Intel Celeron<\/a>.<\/li>\n<li>The version of ROS installed is Indigo.<\/li>\n<li>The OS installed is Ubuntu Trusty 14.04.<\/li>\n<li>The power button must be pressed until a whole shutdown in case the battery is completely depleted (otherwise, the charger does not work ok).<\/li>\n<li>The result of &#8220;cpuinfo&#8221; is:<br \/>\n<code>processor : 0<br \/>\nvendor_id : GenuineIntel<br \/>\ncpu family : 6<br \/>\nmodel : 55<br \/>\nmodel name : Intel(R) Celeron(R) CPU N2840 @ 2.16GHz<br \/>\nstepping : 8<br \/>\nmicrocode : 0x815<br \/>\ncpu MHz : 2159.000<br \/>\ncache size : 1024 KB<br \/>\nphysical id : 0<br \/>\nsiblings : 2<br \/>\ncore id : 0<br \/>\ncpu cores : 2<br \/>\napicid : 0<br \/>\ninitial apicid : 0<br \/>\nfpu : yes<br \/>\nfpu_exception : yes<br \/>\ncpuid level : 11<br \/>\nwp : yes<br \/>\nflags : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good nopl xtopology nonstop_tsc aperfmperf pni pclmulqdq dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 movbe popcnt tsc_deadline_timer rdrand lahf_lm 3dnowprefetch ida arat epb dtherm tpr_shadow vnmi flexpriority ept vpid tsc_adjust smep erms<br \/>\nbogomips : 4333.50<br \/>\nclflush size : 64<br \/>\ncache_alignment : 64<br \/>\naddress sizes : 36 bits physical, 48 bits virtual<br \/>\npower management:<\/p>\n<p>processor : 1<br \/>\nvendor_id : GenuineIntel<br \/>\ncpu family : 6<br \/>\nmodel : 55<br \/>\nmodel name : Intel(R) Celeron(R) CPU N2840 @ 2.16GHz<br \/>\nstepping : 8<br \/>\nmicrocode : 0x815<br \/>\ncpu MHz : 2159.000<br \/>\ncache size : 1024 KB<br \/>\nphysical id : 0<br \/>\nsiblings : 2<br \/>\ncore id : 1<br \/>\ncpu cores : 2<br \/>\napicid : 2<br \/>\ninitial apicid : 2<br \/>\nfpu : yes<br \/>\nfpu_exception : yes<br \/>\ncpuid level : 11<br \/>\nwp : yes<br \/>\nflags : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush dts acpi mmx fxsr sse sse2 ss ht tm pbe syscall nx rdtscp lm constant_tsc arch_perfmon pebs bts rep_good nopl xtopology nonstop_tsc aperfmperf pni pclmulqdq dtes64 monitor ds_cpl vmx est tm2 ssse3 cx16 xtpr pdcm sse4_1 sse4_2 movbe popcnt tsc_deadline_timer rdrand lahf_lm 3dnowprefetch ida arat epb dtherm tpr_shadow vnmi flexpriority ept vpid tsc_adjust smep erms<br \/>\nbogomips : 4333.50<br \/>\nclflush size : 64<br \/>\ncache_alignment : 64<br \/>\naddress sizes : 36 bits physical, 48 bits virtual<br \/>\npower management:<\/code><\/li>\n<\/ul>\n<h3>Turtlebot 2 Specifications<\/h3>\n<ul>\n<li>Dimensions: 31,5 x 43 x 34,7 cm<\/li>\n<li>Weight: 5 Kg<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-172 aligncenter\" src=\"http:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/front-300x213.gif\" alt=\"front\" width=\"300\" height=\"213\" srcset=\"https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/front-300x213.gif 300w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/front-444x316.gif 444w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-173 aligncenter\" src=\"http:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/side-300x213.gif\" alt=\"side\" width=\"300\" height=\"213\" srcset=\"https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/side-300x213.gif 300w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/side-444x316.gif 444w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-174 aligncenter\" src=\"http:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/top-300x213.gif\" alt=\"top\" width=\"300\" height=\"213\" srcset=\"https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/top-300x213.gif 300w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/top-444x316.gif 444w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/p>\n<div class=\"heading\">\n<h3>Kobuki Base Specifications<\/h3>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-168 aligncenter\" src=\"http:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/kobuki-1-300x254.jpg\" alt=\"kobuki\" width=\"300\" height=\"254\" srcset=\"https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/kobuki-1-300x254.jpg 300w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/kobuki-1.jpg 400w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/p>\n<\/div>\n<h4>Functional Specifications<\/h4>\n<ul>\n<li>Maximum translational velocity: 70 cm\/s<\/li>\n<li>Maximum rotational velocity: 180 deg\/s<\/li>\n<li>Payload: 5 kg (hard floor), 4 kg (carpet)<\/li>\n<li>Cliff: will not drive off a cliff with a depth greater than 5cm<\/li>\n<li>Threshold Climbing: climbs thresholds of 12 mm or lower<\/li>\n<li>Rug Climbing: climbs rugs of 12 mm or lower<\/li>\n<li>Expected Operating Time: 3\/7 hours (small\/large battery)<\/li>\n<li>Expected Charging Time: 1.5\/2.6 hours (small\/large battery)<\/li>\n<li>Docking: within a 2m x 5m area in front of the docking station<\/li>\n<\/ul>\n<h4>Hardware Specifications<\/h4>\n<ul>\n<li>PC Connection: USB or via RX\/TX pins on the parallel port<\/li>\n<li>Motor Overload Detection: disables power on detecting high current (&gt;3A)<\/li>\n<li>Odometry: 52 ticks\/enc rev, 2578.33 ticks\/wheel rev, 11.7 ticks\/mm<\/li>\n<li>Gyro: factory calibrated, 1 axis (110 deg\/s)<\/li>\n<li>Bumpers: left, center, right<\/li>\n<li>Cliff sensors: left, center, right<\/li>\n<li>Wheel drop sensor: left, right<\/li>\n<li>Power connectors: 5V\/1A, 12V\/1.5A, 12V\/5A<\/li>\n<li>Expansion pins: 3.3V\/1A, 5V\/1A, 4 x analog in, 4 x digital in, 4 x digital out<\/li>\n<li>Audio : several programmable beep sequences<\/li>\n<li>Programmable LED: 2 x two-coloured LED<\/li>\n<li>State LED: 1 x two coloured LED [Green &#8211; high, Orange &#8211; low, Green &amp; Blinking &#8211; charging]<\/li>\n<li>Buttons: 3 x touch buttons<\/li>\n<li>Battery: Lithium-Ion, 14.8V, 2200 mAh (4S1P &#8211; small), 4400 mAh (4S2P &#8211; large)<\/li>\n<li>Firmware upgradeable: via usb<\/li>\n<li>Sensor Data Rate: 50Hz<\/li>\n<li>Recharging Adapter: Input: 100-240V AC, 50\/60Hz, 1.5A max; Output: 19V DC, 3.16A<\/li>\n<li>Netbook recharging connector (only enabled when robot is recharging): 19V\/2.1A DC<\/li>\n<li>Docking IR Receiver: left, centre, right<\/li>\n<li>Diameter : 351.5mm \/ Height : 124.8mm \/ Weight : 2.35kg (4S1P &#8211; small)<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>WidowX arm Specifications<\/h3>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-167 aligncenter\" src=\"http:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/widowx-300x300.jpg\" alt=\"widowx\" width=\"300\" height=\"300\" srcset=\"https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/widowx-300x300.jpg 300w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/widowx-150x150.jpg 150w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/widowx-768x768.jpg 768w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/widowx-618x618.jpg 618w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/widowx-66x66.jpg 66w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/widowx-444x444.jpg 444w, https:\/\/babel.isa.uma.es\/crumb\/wp-content\/uploads\/2016\/03\/widowx.jpg 900w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/p>\n<p>&nbsp;<\/p>\n<ul>\n<li>Weight: 1400 g<\/li>\n<li>Vertical Reach: 55 cm<\/li>\n<li>Horizontal Reach: 41 cm<\/li>\n<li>Strength (no rotate):\n<ul>\n<li>30 cm -&gt; 400 g<\/li>\n<li>20 cm -&gt; 600 g<\/li>\n<li>10 cm -&gt; 800 g<\/li>\n<\/ul>\n<\/li>\n<li>Gripper strength: 500 g Holding<\/li>\n<li>Wrist Lift Strength: 400 g<\/li>\n<li>Servos:\n<ul>\n<li>2x\u00a0MX-64 Dynamixel Actuators<\/li>\n<li>2x\u00a0MX-28 Dynamixel Actuators<\/li>\n<li>2x\u00a0AX-12A Dynamixel Actuators<\/li>\n<\/ul>\n<\/li>\n<li>Arbotix Robocontroller:\n<ul>\n<li>ATMega644p Microprocessor<\/li>\n<li>8 Analog &amp; 8 Digital IOs<\/li>\n<li>Physical, Xbee Wireless, &amp; USB\/TTL Serial control options<\/li>\n<li>Arduino IDE compatible<\/li>\n<li>Custom firmware capable<\/li>\n<li>ROS Ready<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>The CRUMB robot is a Turtlebot 2 equipped with a Widow X arm, provided by Robotnik. TurtleBot is a low-cost, personal robot kit with open-source software for education and research. &nbsp; Turtlebot 2 components are: Kobuki base Turtlebot structure Kinect Netbook (running ROS) Netbook Specifications The CPU is an Intel Celeron. The version of ROS [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"open","template":"","meta":{"footnotes":""},"class_list":["post-2","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/pages\/2"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/comments?post=2"}],"version-history":[{"count":12,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/pages\/2\/revisions"}],"predecessor-version":[{"id":464,"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/pages\/2\/revisions\/464"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/crumb\/index.php\/wp-json\/wp\/v2\/media?parent=2"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}