Platform
| Physical | |
|---|---|
| Mass | 2.3 kg (2.7+ kg with batteries installed) |
| Wheel track | 164 mm |
| Wheel diameter | 90 mm |
| Maximum forward speed | 400 mm/sec |
| Power | |
| Main battery | 4× D Cell NiMH of capacity at least 5Ah[1] |
| Clock battery | 1× CR2032 coin cell |
| Main battery life | Varies with battery capacity and usage: typical range 2-16 hours |
[1] Batteries of at least 100g/cell (typically that means at least 5Ah) are required (see Batteries for details).
Sensors
| Exteroceptive | ||
|---|---|---|
| Microphones | 2× | 10-bit @ 20kHz |
| Cameras[2][3] | 2× | 128×96 @ 25fps 192×144 @ 25fps 320×240 @ 8fps |
| Proximity | 1× | Sonar in nose (3-30+cm) |
| Touch | 8× | 4× in body, 4× in head; capacitive |
| Light | 4× | Spread around body skirt |
| Cliff | 2× | Front edge of body skirt |
| Interoceptive | ||
| Accelerometer | 2× | 1× in body, 1× in head |
| Temperature | 1× | Inside body shell |
| Voltage | 1× | Battery voltage |
[2] Frame rates are reduced automatically in low lighting conditions.
[3] Listed frame rates are marginally stable for delivery to a single client; occasional dropped frames may occur, depending on conditions.
Actuators
| Kinematic | ||
|---|---|---|
| Main wheels | 2× | Differential drive, up to ~500mm/sec |
| Body joints | 3× | Lift, yaw, and pitch |
| Cosmetic | ||
| Tail (wag/droop) | 2× | Wagging or drooping |
| Ears (rotate) | 2× | Left and right ear rotate independently |
| Eyelids (open/close) | 1× | Two eyelids open and close together |
| Supplementary | ||
| Sound output | 1× | Stereo audio digitised at 8kHz 10-bit |
Processing
| Embedded Stack | ||
|---|---|---|
| P1 | STM32F030C8T6 | ARM Cortex M0 @ 48MHz 8kB SRAM 64kB FLASH ROM |
| P2 | NXP LPC4330 | ARM Cortex M0/M4 Dual Core @ 204MHz 264kB SRAM 8MB DRAM (A3V64S40GTP) 2MB FLASH ROM (MX29LV160DT) |
| P3 | TI AM3358 | ARM Cortex A8 @ 1GHz 256MB DDR3-1600 RAM (K4B2G1646G) 4GB uSD FLASH ROM |
Software
This table describes the software that comes with the MIRO robot. The factory-supplied SD card (or disk image) comprises a Linux distribution built using the Yocto distribution build tool for embedded devices. The image includes a small set of build and development tools along with a minimal ROS installation.
| On-board | ||
|---|---|---|
| Operating system | Yocto Krogoth 2.1.1 | |
| ROS | Kinetic | |
| Accompanying | ||
| MIRO Developer Kit | Includes configuration for Gazebo robot simulator[4] | |
[4] Owing to limitations of simulation, the simulated robot lacks some of the faculties of the physical robot.
This table indicates the software for your workstation that is supported.
| Supported | |
|---|---|
| Operating system | Ubuntu 16.04 LTS |
| ROS | Kinetic |
| Gazebo | Version 7.3 |
