Turtlebot 2i
The 2i improves upon previous iterations of the TurtleBot with a completely redesigned modular chassis and for the first time, native support of robotic arms. The TurtleBot 2i offers the Pincher MK3 4 DOF Robotic Arm as a fully supported standard option allowing the robot to interact with small objects in the real world, effectively transforming the TurtleBot into an extremely capable mobile manipulator.
Technical Features:
The TurtleBot 2i is powered by an Intel NUC BOXNUC6CAYH and features dual 3D camera configurations, using a dedicated long range Orbbec Astra for Navigation & Mapping, and the short range Intel RealSense camera SR300-Series as a dedicated Manipulation work space sensor.
The TurtleBot 2i offers the Pincher MK3 Robotic Arm as a fully supported standard, allowing the robot to interact with small objects, buttons, and tools in the real world. The Arbotix-M Robocontroller provides an interface for the Pincher Mk3 arm, which is implemented using MoveIt, an open source inverse kinematics solution, allowing users to control the arm using only high-level commands.
!TurtleBot 2i ROS Software/Demo Features
Autonomous Navigation & Point Cloud Mapping
Map Zone Identification & Waypoints
Robotic Arm Object Manipulation & Sorting
Obstacle Avoidance & Path Planning
- Teleoperation Examples Self-Charging w/ Dock
Hardware Specifications
CPU:
INTEL NUC - BOXNUC6CAYH
8GB Ram 120GB or better SSD
802.11AC WiFi / Bluetooth 4.0 Ubuntu 16.04 / ROS Kinetic
Sensors:
Intel RealSense 3D Camera SR300-Series
Orbbec Astra Cam Accelerometer/Gyro/Compass
Edge Detection & Bumper Sensors
Mobile Robot:
Kobuki Mobile Base
Modular & Interchangeable Decks Pincher MK3 Robo Arm Arbotix-M Robocontroller Maximum translational velocity: 70 cm/s 13 Maximum rotational velocity: 180 deg/s (>110 deg/s gyro performance will degrade) Payload: 2kg (without arm), 1kg (with arm) Cliff: will not drive off a cliff with a depth greater than 5cm Threshold Climbing: climbs thresholds of 12 mm or lower Rug Climbing: climbs rugs of 12 mm or lower Expected Operating Time: 4-6 hours (operating time varies depending on loadout) Expected Charging Time: 2-3 hours (charge time varies depending on loadout) Docking/Charging Station: automatic within a 2mx5m area in front of the docking station (sold separately)
Documentation
Turtlebot 2i STEP (3d model) at GrabCAD
Report a Bug
Use GitHub to report bugs or submit feature requests. [View active issues]