E-puck mobile robot
Image:E-puck-mobile-robot-photo.jpg
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[http://www.gctronic.com/ GCtronic] and [http://aai.jp/ AAI] {{Webarchive|url=https://web.archive.org/web/20071212190812/http://www.aai.jp/ |date=2007-12-12 }} and sold[http://www.cyberbotics.com/e-puck Cyberbotics] {{Webarchive|url=https://web.archive.org/web/20090213223806/http://www.cyberbotics.com/e-puck/ |date=2009-02-13 }}, [http://www.roadnarrows.com/store/e-puck.html RoadNarrows Robotics] {{Webarchive|url=https://web.archive.org/web/20110712233118/http://www.roadnarrows.com/store/e-puck.html |date=2011-07-12 }}, and [http://www.k-team.com K-Team] 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:see [http://www.e-puck.org/index.php?option=com_content&view=article&id=12&Itemid=16 extensions section at e-puck.org]
- 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.the e-puck costs around 950 CHF at time of writing, while the Khepera is around 3000 CHF This is leading to a rapid adoption by the scientific community in research[https://scholar.google.com/scholar?q=%22e-puck%22+mobile+robot A search on Google scholar of e-puck + mobile + robot] returns 528 papers (2012-01-05) despite the original educational orientation of the robot.
The e-puck has been used in collective robotics[http://infoscience.epfl.ch/getfile.py?docid=12417&name=JP_icra07&format=pdf&version=1] [http://infoscience.epfl.ch/getfile.py?docid=13861&name=JP_cec2007&format=pdf&version=1] [http://infoscience.epfl.ch/getfile.py?recid=99957&mode=best], evolutionary robotics [https://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4218883], and art-oriented robotics [http://www.student.bth.se/~jekn05/JK_Thesis.pdf]{{Dead link|date=July 2019 |bot=InternetArchiveBot |fix-attempted=yes }} [http://portal.acm.org/citation.cfm?id=1278280.1278288][http://adb.sagepub.com/content/17/3/179.abstract].
References
{{Reflist|2}}
External links
- [http://www.e-puck.org Homepage] - the e-puck project homepage
- [http://mobots.epfl.ch/e-puck.html e-puck at Mobots] - the e-puck homepage at Mobots, the group who developed the e-puck
- [https://web.archive.org/web/20091010075031/http://gna.org/projects/e-puck e-puck at gna] - the gna page of e-puck onboard software
- [https://www.cyberbotics.com/doc/guide/epuck 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
- [https://github.com/JCInvoker/Epuck2-MATLAB-kernel] - epuck2 MATLAB kernel
Category:Robots of Switzerland