[8] What companies sell or build robots?
[8.1] Mobile robot companies
[8.1.1] AGV Companies
[8.1.2] Underwater robots
[8.2] Manipulator companies
[8.3] Integrators and resellers
[8.4] Other Organizations doing robotics
[8.5] Small Inexpensive Robots
[8.6] Entertainment Robots
[8.1] Mobile robot companies
There are a small number of companies targeting the research community for
the mobile robot market. Helpmate, RWI, and Cybermotion have all sold and
are selling mobile devices for research and real applications. There are
a number of Automatic Guided Vehicle companies as well and their primary
applications are factory operations. Companies manufacturing Automatic Guided
Vehicles (AGV) are listed at the end of this section. Robot lawn mowers
too!
Action Machinery Co. One Vulcan Drive
Helena, AL 35080, USA
tel: 205.663.0814
fax: 205.663.3445
Severe-duty hydraulic robots and manipulators. Payloads from 65kg - 7000kg.
Primarily forge, foundry, and casting operations.
Applied AI Systems
Suite 500, Gateway Business Park
340 March Rd, KANATA
Ontario, Canada K2K 2E4
net: 71021.2755@compuserve.com
Representing IS Robotics and Khepera (see below). MIT subsumption architecture
style robots. Ghengis-II walker runs $8636.00 including a development system
and downloading board, but without LISP.
Arrick Robotics
2107 W. Euless Blvd.
Euless, Texas 76040 USA
tel: 817.571.4528
fax: 817.571.2317
net: rarrick@ix.netcom.com
url: www.http://robotics.com/
R20 mobile robot platform for use by AI software developers. 3-wheel design,
14" wide, 14" long, 10" tall, 15lbs. 20lb payload. On-board
controller connects to the user's laptop computer by cable or low-cost RF
modem (RS232). Sensors include compass, tilt, wheel travel, temperature,
light level, bumpers, battery status, etc. Price as of 1/1/95 $2,900.00.
Units in use at UTA Automation Robotics Research Institute. Send for detailed
specifications.
Bell and Howell
Bell & Howell Mailmobile Company
411 E. Roosevelt Ave.
Zeeland MI 49464
tel: 616.772.1000
fax: 616.772.6380
email: For now rpaske@iserv.net
Mailmobiles were developed by Lear-Siegler in the mid-70's for the industrial
cleaning market. They decided to leave this market and Bell and Howell,
the audio-visual equipment company, was refocusing on office automation
products and picked up this product from Lear-Siegler. There are three models
of Mailmobile, the Packmobile, the Sprint and the Trailmobile. About 3000
systems sold and about 2000 probably in operation. They use a chemical trail
that floureseces under UV light. Payloads up to a couple of hundred kg.
Some systems have been operating for over 15 years.
Branch & Associates Pty Ltd
1153 Tasman Highway
Cambridge, Tasmania 7170
Australia (operating in Europe, Asia and America)
tel: +61-02-485-807
fax: +61-02-485-809 contact: Alex Vail, Division Manager
Since 1979, specialist in autonomous navigation and guidance; products and
technology for applications, research, and teaching. Conquerer series of
fully autonomous AGV's, mapping system, non-accumulated error, accuracy
1cm, 1 degree, no environmental modifications, $12K - $25K.
Fander: research and educational mobile robot. $5.5K includes everything:
built-in software demonstrates in real situations numerous exmaples of roboti
mobility technologies for teaching, research and teaching manual, stand-alone
and remote PC modes, real time graphics.
Cybermotion
115 Sheraton Drive
Salem VA 24153
tel: 540.562.7626
fax: 540.562.7632
url: Cybermotion Mobile Robotic Systems
John Holland's company. Mobile K2 bases making use of ingenious torque-tube
synchronous drive system. Security markets and research platforms, manipulators
for base as well. Map building software too.
Cyberworks
31 Ontario Street
Orillia, Ontario
L3V 6H1 Canada
tel: 705.325.6110
fax: 705.325.8566
Primary product are 'building blocks' for mobile robot development including
controllers, sensors, softare and chassis'.
Denning Branch International Robotics
1401 Ridge Avenue
Pittsburgh, PA 15233
tel: (412) 322-4412
fax: (412) 322-2040
email: Soon. Messages to hpm@cs.cmu.edu will be forwarded. Denning-Branch
is a merger of Denning Mobile Robotics, once located in the Boston area,
and makers of human-size mobile robots since 1983, and Branch and Associates,
of Hobart, Australia, designers and builders of smaller mobile robots since
1979.
Among the first products available is an MRV retrofit kit, which substitutes
a modern Intel 80486 system with more power and a simpler interface for
the 1985 vintage MC 68000 based controller.
Fander
Small (~60x30x30 cm) 80486 based robot for educational purposes, with infrared
and rotating sonar sensors, preprogrammed for several autonomous navigation
tasks, and externally controllable via serial link. $5.5K
MRV 1 &4
Large (~90x90x120 cm) heavy payload capacity synchro drive robot, with optional
sonar ring and laser nav sensors and software. $13.5K
LaserNav
Robot-mounted scanning infrared laser unit that uses wall mounted bar-coded
retroreflectors or active transponders to navigate to centimeter precision
in 10-meter-scale areas. $8K
RotoSonar
Small-scale revolving sonar head with 4 sonar units and software. $3K
Sonar Ring
MRV-scale belt of 24 sonar units and driving hardware and software.
General Robotics
14618 W. 6th Avenue
Suite 150
Golden, CO 80401
tel: 800.422.4265 (US and Canada)
tel: 303.277.1574
fax: 303.277.0310
RB5X mobile robot for educational use. Developed in the early 80's and has
been sold for many years. Similar to design and market for Heathkit robots.
RB5X is $2995. Also sell base unit without wheels and shell board mounted
for experimentation or building your own robot: $1995. A variety of other
options including sensors, cameras, radio link and software for for Mac,
Apple II and PC's are available. Educational curriculum workbooks and manuals
are also available separately.
HelpMate Robotics (formerly Transitions Research Corp)
Shelter Rock Lane
Danbury, CT 06810
tel: 203.798.8988
fax: 203.791.1082
url: Helpmate Home Page
HelpMate Robotics Inc. sells HelpMate robots primarily to hospitals for
trackless, self-guided transportation and delivery of materials for many
departments within healthcare institutions throughout the U.S. and Canada.
HelpMate is distributed in Europe in partnership with Otis Elevator and
in the Orient in partnership with Yaskawa Electric Company. Helpmate also
markets laboratory research toolkits and components.
IS Robotics
Suite 6, 22McGrath Hwy
Somerville, MA 02143
tel: 617.629.0055
fax: 617.629.0126
net:
url: http://isr.com/~isr
· R-3, wheeled robot, $14K
· Genghis II, 15" walking robot, $8.6K
· Pebbles III, tracked robot, $12.5K
· Hermes - high end walking robot
Robots use the 16MHz 68332 (68020 core) microcontrollers (except Ghengis).
Robots include IR and bump sensing for obstacle detection. Pyro sensors
and color camera with pan-tilt are optional. ISR also performs contract
engineering (custom robots). Check the ISR home page for more details.
Kentree
Kilbritten,
County Cork, Ireland
tel: +353 23 49791, 49808
fax: +353 23 49801
Teleoperated bomb disposal vehicles in a range of sizes.
mecos Robotics AG
Technopark
Pfingstweidstrasse
CH-8005 Zurich
Switzerland
tel: + 41 1 445 11 35
fax: + 41 1 445 11 34
email: mecos@mecos.ch
Contact: S. J. Vestli
Company formed as a spin off of the Institute of Robotics, ETH wiss Federal
Institute of Technology). "mecos Robotics" specialises in modular
and adaptive robot manipulators and robot vehicles (mobile robots). All
"mecos Robotics" systems uses the same type of controller, a VME
based computer. This system comes with high level development tools, and
for research institutions the systems have the advantage of being open.
The overall goals of all "mecos Robotics" systems are flexibility
and modularity.
The mobile robot program from "mecos Robotics" follows this principle.
The physical size and the mechanical configuration can be altered. The standard
configuration has three wheels with air tyres and independant suspension.
One wheel is used for steering and propulsion (imagine a kids tricycle).
The overall size is 0.7 m (W) * 1.0 m (L) * 0.5 m (H). The price depends
on configuration and starts around the 70.000,- Swiss Franks mark.
Nomadic Technologies
2133 Leghorn Street
Mountain View, CA 94043
tel: 415.988.7200
fax: 415.988.7201
net: nomad@robots.com
Nomadic technologies makes a variety of mobile platforms including the new
XR4000, a holonomic 3DOF mobile base system and the small Scout mobile robot.
A wide variety of sensing modules, in the Sensus line, are available, including
infrared, vision, ultrasonic, and laser-rangfinding. Integrated software
development package for the host computer includes a graphic interface,
robot simulator and a library of motion planning, motion control and sensory
data interpretation functions. Geared toward teaching and research in Robotics
and AI. The Nomad utilizes a synchronous steering system
Products include:
Nomad Scout
Nomad 150
Nomad 200
Nomad XR4000
Nomad Control System
Sensus 200 Sonar System
Sensus 300 Infrared System
Sensus 400 Basic Vision System
Sensus 500 Laser Ranging System
Sensus 700 High Speed Color Vision System
Nomadic Host Development Environment
Nomad Lift Mechanism
OTO MELARA
Via Valdilocchi 15
19136 La Spezia ITALY
tel: +39 187 58 2843
fax: +39 187 58 2669
contact: Gian Carlo Caligiani, Robotic Systems Office
OTO MELARA R.2.5.Robotized System
The Robotized R.2.5 (R.2.5.R) Project aims at prototyping a mobile robot
for intervention in hostile environments. The system is composed by three
main units: the transportable control station, the radio communication set
and the mobile robot based on an armoured, diesel propelled, wheeled platform
called R.2.5. Gorgona, produced by OTO MELARA. Robot can be remotely controlled
via full-duplex radio link. Can be teleoperated and provides supervised
modes as well. Speeds from 30cm/sec to 30km/h. As of May 1994 the locomotion
system and teleoperated system are complete. Additional functionality in
the form of supervised and autonomous operation are planned.
Poulan/Weed Eater
c/o Robotic Solar Mower Dept.
PO Box 91329
Shreveport, LA 71149-1329
tel: 318.687.0100 X3939
[Boiled out of their press release - Gareth Branwyn] The Robotic Solar Mower
is a 5.6kg (12.5lb). automated solar-powered "lawn groomer." It
uses a wire boundary system to keep it inside the mowing area. It runs continuously
when the sun shines. Its operation is "virtually noise free."
It continues on its constant mowing course, taking between several hours
and several days to complete a grooming cycle (depending on size of yard,
obstacles, etc.). Instead of cutting 1/3 of the grass blades (as in a conventional
mower), it only trims the tips. It can handle a yard up to 1250m^2 (13,500
ft^2) and has a slope tolerance of 15-20 degress. A pilot program is currently
offering the mower in the US for $2,000.
Real World Interface (RWI)
PO Box 375
32 Fitzgerald Drive
Jaffrey, NH 03452
tel: 603.532.6900
fax: 603.532.6901
net: sales@rwii.com
RWI homepage
RWI manufactures intelligent mobile robotic systems, including the B14 (an
evolved B12) and B21 R&D platforms, the new ATRV-1 for outdoor mobile
robotics applications, and in collaboration with ActivMedia, Inc. and Kurt
Konolige of SRI International, the low-cost Pioneer 1 Mobile Robot for training
and research.
The contest-winning (AAAI-'94 and '96) Real World/ActivMedia/Konolige Pioneer
1 Mobile Robot is targeted for research and training where affordability
(under $2,500!) and many platforms are required. Pioneer 1 has a position-accurate,
differential 2-wheel drive in a 46 x 35.5 x 23cm (LWH) chassis, which also
carries a 84 Wh powerpack and hosts seven sonars. The custom on-board 68HC11-based
controller runs a suite of robotics servers accessible via onboard serial
port by a piggyback laptop or basestation computer client. Client libraries
and a simulator are included to assist application development. The Fast-Track
Vision System, based on Newton Labs' Cognachrome Vision System is now available
for Pioneer 1. Manipulation gripper and experimenter's modules, with supporting
texts by Dr. Kurt Konolige to come Fall '96.
Recently redesigned from the B12, the B14's 35.5 x 61cm (14" x 24")
(d x h) 3-wheel Synchro Drive Base now has built-on, tool-less access Smart
Panels(tm) with tactile sensors, a 192-watt hr, hot-swappable battery power
system for continuous service, and carries up to a 9kg (20 lb) payload.
New B14 Enclosure mounts on top the Base and hosts Intel Pentium(tm)/Pentium
Pro(tm) (SMP available) computer system, complete with Linux OS and RWI's
RAI robotics servers and client development software libraries. B14 comes
with full range of IR, sonar, and tactile sensors.
RWI's flagship robot -- the B21 -- is for intelligent, mobile,autonomous
robotics research and indoor commercial applications. The B21's 53x30cm
(21" x 12") (d x h) 4-wheel Synchro Drive Base carries a payload
of 90kg (200 lbs) and has 1500 Wh of independent battery power, hot-swappable
for continuous service. The B21 Enclosure mounts on top the Base and hosts
two internal Intel Pentium(tm)/Pentium Pro(tm) (SMP available) computers
plus a console laptop, all integrated via an onboard Ethernet, Linux OS,
and RWI's RAI robotics software. Smart Panels(tm) around give easy access
to Base and Enclosure equipment and host a full range of IR, sonar, and
tactile sensors. Optional four-axis arm has gripper and 360-degree wrist,
and mounts inside Enclosure.
RWI's new All Terrain Robot Vehicle (ATRV-1) is a very rugged four-wheel,
differential drive robot (skid steering) with off-road 40cm (16") tires
and 1-hp drive that will take your 65kg (150 lb) payload up to 5km (3 mi)
at the fast clip of nearly 4 km/hr (6 mph) through rain, sleet, snow...
The ATRV-1's weather-sealed body protects its drive system, onboard Intel
Pentium(tm)/Pentium Pro(tm) (SMP available) computer and other internal
electronic gear of your choice. And it's flat, 90 x 85cm (36" x 34")
top provides ample space for a variety of sensors and accessories--your
choice of options.
The B14, B21, and ATRV-1 come with a variety of accessories, including a
high-performance stereo vision system and other video options, wireless
communications, laser range finders, and more.
(Pioneer) Basic Robot $2,495
Fast-Track Vision System (camera included) $3,495
Color CCD Camera with Manual Tilt ................$500
Gripper $750*
Radio Modem (900 MHz pair) $595
Experimenter's Module $200
2.4 GHz Video Transmitter/Receiver pair $350
Serial Cables $45 & $35
(B14) Mobile Base w/ tactile Smart Panels(tm) $9,000
B14 Enclosure w/ IR, sonar and tactile Panels $7,000
B14 Power Station $400
(B21) Base w/ tactile and IR Smart Panels(tm) $19,500
B21 Enclosure w/ IR, sonar and tactile Panels $11,500
B21 Four-Axis Arm $18,250
B21 Power Station $1,500
(Computers**) Pentium(tm) 150/32/1600 $2,750+/-
Bxx Pentium(tm) 166/64/1600 $3,250+/-
Bxx Pentium Pro(tm) 200/64/1600 $4,250+/-
Bxx Dual-Pentium Pro(tm) 200/64/1600 $5,500+/-
Ultra-SCSI Interface and 2 GB Drive Upgrade $1,375+/-
Laptop with 11" Color Display $4,500+/-
(Acc) Advanced Stereo Vision System $8,100
Pan-Tilt Head $1,950
PCI-based Video Frame Grabber $950
CCD Cameras (color & B &W) $1,300-$1,800
Radio Links (RS-232 & Ethernet) $595-$5,390
Digital Navigation Compass $1,000
* Introductory price good through December, 1996.
** All Bxx computers come with installed and configured with Linux OS and
RWI RAI software and with Ethernet networking. Robot-complementary LinuxStation
desktop systems also available.
Remotec
114 Union Valley Road
Oak Ridge, TN 37830
tel: 615.483.0228
fax: 615.483.1426
The ANDROS line of teleoperated mobile robots. These were designed to be
useful in the nuclear industry and in other hazardous applications, and
are very rugged. You can hose them down. Available in a range of sizes,
with a variety of optional attachments, such as video cameras, arms, etc.
TAG Technology
5 Bowlands Mill, Dispensary Street
Alnwick, Northumberland, NE661LN, UK
tel: +44 655 604895
fax: +44 665 510624
net: http://www.tag.co.uk/robots/
A variety of small modular mobile robots, sensors and controllers.
· Frank - a tracked vehicle. Cost $UK 3198
· Igor - a small quadraped walking machine. $UK 2238
· Sensors - ultrasound and IR. $UK 144 - 318 depending on model.
· Neural modeling system - single eurocard board for neural work.
Visual Inspection Technologies
199 Highway 206
Flanders, NJ 07836
tel: 973.448.0077
fax: 973.448.0044
VIT specializes in remote visual and ultrasonic testing but sells or rents
a small tracked rover for inspection work. Products include ROVVER, SPOT,
and PIPECAT vertical pipe crawler. VIT also makes miniature remote pan and
tilt devices.
Yamazaki Construction Company
Intelligent Robot Lab
Kaika Building
2-7-1 Sotokanda
Chiyoda-ku 101 Tokyo
Japan
tel: 81-3-5256-0715
LR1 robot - small research robot, basically a VME cage on wheels with some
ultrasonic sensors and a nice constant force suspension. Has shown up at
IEEE R &A conferences $30K.
RoboSoft SA
6, allee Paul Cezanne
93360 Neuilly Plaisance
FRANCE
tel: +33 1 4944 3035
fax: +33 1 4944 3297
[8.1.1] AGV Companies
AGV's are Automatic Guided Vehicles. They are common in factory automation
and usually consist of mobile platforms for transporting goods and materials
within factories. Most still use buried wires for guidance, but several
vendors have or will have off-wire capabilities. AGV subsystems can also
be useful in building mobile bases. Wheel modules can be purchased that
already include hub, tire, motor, bearings, suspension and sometimes steering
as well as drive.
The first AGV was installed by the Cravens Company at Mercury Motor Express
in Columbia, SC in 1954. The use of AGV's did not take off however and even
by the early 80's the investment by US firms in AGV's was less than $70M.
However, several European companies took hold of the idea and rapidly evolved
it. The industry in the US peaked in 1985 at about $175M and is slowly recovering.
-- From Modern Materials Handling - 4/96
AGV Products
8000 Tower Point Drive
Charlotte, NC 28227
tel: 704.845.1110
fax: 704.845.1111
url: www.agvp.com
Controls and components for AGV's. Supplier of Schabmuller and other motor-in-wheel
drives. Provide customized AGVs for a wide variety of applications.
BT Systems
7000 Nineteen Mile Road
Sterling Heights, MI 48314
tel: 313.254.5200
fax: 313.254.5570
Automated Handling Systems (Formerly Volvo Automated Systems)
Caterpillar Industrial (now FMC)
5960 Heisley Road
Mentor, OH 44060
tel: 216.357.2935
fax: 216.357.4410
Manufacturer and distributor of fork lift trucks and guided vehicles. Cat's
SGV's use rotating laser scanner and barcodes as opposed to traditional
wire-guided systems.
Control Engineering Company
Jervis Webb Company
34375 W. Twelve Mile Road
Farmington Hills, MI 48331-5624
tel: 313.553.1220
fax: 313.553.1253
Eaton-Kenway
515 East 100 South
PO Box 45425
Salt Lake City, UT 84145-0425
tel: 801.530.4000
fax: 801.530.4243
AGV's and integrated systems
Elwell-Parker
4205 St. Clair Avenue
Cleveland, OH
tel: 216.881.6200
fax: 216.391.7708
Designs/manufactures rider style, electric, fork and platform mobile material
handling equipment. Line includes AGV's, high tonnage capacity. Mobile cranes,
explosion proof forklifts.
Eskay Corporation
563 West 500 South
Bountiful, UT 84010
tel: 801.295.5315
fax: 801.299.9990
Automated material handling systems including AGVS.
Fata Automation
37050 Industrial Road
Livonia, MI 48150
tel: 313.462.0678
fax: 313.462.0997
Sales and service of AGVs.
FMC Corporation
400 Highpont Drive
Chalfont, PA 18914
tel: 215.822.4300
fax: 215.822.4342
AGVs, Automated Handling Systems, Consulting, Trolley and Power and Free
Converyors, Tow lines, Integrated Systems and Controls, Roll Handling Equipment.
Frog Navigation Systems b.v.
Cartesiusweg 120
3435 BD Utrecht
The Netherlands
tel: (+31) 30 244 05 50
fax: (+31) 30 244 07 00
net: frog@ich.nl
contact: Leo Lans
USA-office:
1091 Centre Road, Ste 170
Auburn Hills, MI 48326
tel: (+1) 810 377 4000
fax: (+1) 810 377 4004
contact: Charles Rouse - dir of marketing and sales
net: 102024.665@compuserve.com
FROG makes AGVs and AGV navigation systems that utilize infrastructure components
to accurately determine AGV position. FROG, and the SuperFROG AGV supervisory
software, are used in both 'traditional' and 'non-traditional' AGV Markets.
Traditional applications include manufacturing and warehousing. Non-traditional
applications include container handling, personnel transport, mining and
military use. FROG will fit any vehicle and can be used in any environment
from clinically clean warehouses to weather beaten dockyards.
Articles on Frog are in 'Automation' February 1991 or in 'Modern Materials
Handling', December 1994 P.46.
IDAB Incorporated
1 Enterprise Parkway, Suite 300
PO Box 8157
Hampton, VA 23666
tel: 804.825.2260
fax: 804.825.9307
Automatic handling systems and AGV's
Mannesmann Demag Corporation
29201 Aurora Road
Cleveland, OH 44139-1895
tel: 216.248.2400
fax: 216.248.3086
Overhead cranes, wire rope and chain hoists, AGV systems, automatic storage
and retrieval systems, monorail, aircraft maintenance equipment.
Mentor AGVS, Inc
8500 Station Street
PO Box 898
Mentor, OH 44060
tel: 216.255.4051
fax: 216.255.2131
url: http://www.apk.net/agvs
net: mentor@harborcom.net
Mentor designs and produces AGV systems and automated transfer cars. Mentor
has co-designed the world's largest robot. (10m tall and viewable at their
web site) Mentor is also the only AGV company to provide Class I, Div I
& II, explosion proof designs. Mentor is the leader in outdoor and heavy
load designs with capacities to 112,000 kg. Menotr is the clear leader in
jumbo paper roll transport although they move all types of loads copper,
steel, aluminum, pallets etc.
Munck Automation Technology
161 Enterprise Drive
Newport News, VA 23603
tel: 804.887.8080
fax: 804.887.0558
url: http://www.munck.com
Manufacturer and integrator of automated material handling systems. AGVS
of many configurations (unitload, forklift, towing)
NDC Automation
3101 Latrobe Drive
Charlotte, NC 28211
tel: 704.362.1115
fax: 704.364.4039
url: www.ndca.com
net: debbie@ndca.com
NDC Automation, Inc., a member of the NDC Group, supplies AGV systems and
AGV control technology. NDC's Lazerway laser guidance is a laser navigation
system available for AGV systems. NDC's laser controls are also used by
other system integrators such as Mentor AGVS, Munck Automation and HK Systems.
The Raymond Corporation
South Canal Street
PO Box 130
Greene, NY 13778
tel: 607.656.2311
fax: 607.656.9005
Material handling equipment.
RTR GmbH
D-44227 Dortmund, Germany
tel: +49-231-9743328
fax: +49-231-9743162
North America:
Novasco.com Inc.
15 Bolton Terrace,
Dartmouth, Nova Scotia, B2Y 2Z2, Canada
net: rtr@novasco.com
fax: 902-466-2556
Reinoldus Transport-und Robotertechnik GmbH (RTR) evolved from the Institut
fur Transporttechnik und Warendistribution (ITW) and, since 1986, concentrates
on the development, manufacture and distribution of material handling systems
and devices. These include AGV systems and integrated material handling
equipment.
Roberts Sinto Corporation
3001 West Main Street
PO Box 40760
Lansing, MI 48901-7960
tel: 517.371.2460
fax: 517.372.4930
MGV's (Mechanically guided vehicles)
Professional Materials Handling Co, Inc.
4203 Landmark Drive
Orlando, FL 32817
tel: 305.677.0040
Steinbock fork trucks. Wire guided, use regenerative braking.
Saurer Automation Systems
Saurer Automation Systems
11818 James Street
Holland, MI 49424-9658
tel: 616.393.0101
fax: 616.393.0331
Holland, MI
Saurer was formerly Litton Industrial Automation and is a full service material
handling company.
[8.1.2] Underwater robots
There are a number of companies building underwater remotely operated vehicles
(ROV's).
R.O.V. Technologies, Inc
Franklin Road, Vernon, Vermont 05354
tel: 802.254.9353
net: rovtech@sover.net
Nuclear Underwater Equipment, Sales and Service
Oceaneering International, Inc.
16001 Park Ten Place, Suite 600
Houston, TX, 77084
tel: 713-578-8868
fax: 713-578-5243
Oceaneering International provides engineered services and hardware for
industries that operate in harsh environments. Its Space, Environmental,
& Engineering segment produces spaceflight and robotic tools and life
support systems and provides environmental remediation services. Other divisions
include: Oilfield Marine segment produces offshore diving, remotely operated,
and survey vessels. The Offshore Field Development segment produces mobile
offshore production systems and subsea products including umbilicals and
pipeline repair hardware. The Industrial Marine segment produces inland
diving equipment and provides search and recovery services.
· Hydrovision Tel UK ? 224-740145
· Benthos Tel US 1-800-446-1222
· JW Fishers Tel US 1-800-822-4744
· Sutec Tel Sweeden ? 46-13-15-80-60
· Rovtech Tel Uk ? 229-813641
· Deep Ocean Engineering Tel US 501-562-9300
· UWI Tel UK ? 224-896913
[8.2] Manipulator companies
This is only a partial list of manipulator manufacturers. A wide variety
of arms and arm components are made by these vendors and other vendors.
Adept Technology
150 Rose Orchard Way
San Jose, CA 95134
tel: 408.432.0888
fax: 408.432.8707
url: http://www.adept.com/
High speed direct-drive and harmonic-drive SCARA style arms. 0.001"
(.025mm) repeatabiliy. Payloads from 4-25kg Can be used in clean room and
food applications as well. Adept also sells vision systems and controllers.
AEA Technology
AEA is the commercial division of the UK Atomic Energy Authority. markets
the NEATER series telerobots for decommssioning in the nuclear industry.
The system includes a bilateral input device and active (autonomous) force
control.
The system can deploy drills, reciprocating saws, nibblers, grippers for
insertions etc. Larger range of robots including the AEA Technology 200
Kg arm, use filtering compliance to avoid damage to the robot when deploying
heavy duty dismantling tools.
Antenen Research
PO Box 95
Hamilton, OH 45012
tel: 800.323.9555
tel: 513.887.4700
fax: 513.887.4703
New and used robots for manufacturing, research and training. Used at savings
of 40% - 70%. Also lots of parts and accessories.
Asea Brown Boveri (ABB), Vesteraas, Sweden
ABB Robotics
2487 South Commerce Drive
New Berlin, WI 53151
tel: 414.785.3400
fax: 414.789.9235
Now own Cinncinatti Milacron robotics group, Graco and Trallfa. ABB Robotics
is part of a ABB, large swiss-based company, with Many types of larger industrial
robots. Many are optimized for painting, welding and sealant applications.
Comau - Italy
Via Rivalta 30
10095 Grugliasco
Torino, Italy
tel: 011 33341
fax: 011 7809156
A variety of industrial manipulators ranging in payloads from 6kg to 125kg.
All electric AC drives. One of the novel designs is a 6DOF, 12kg payload
robot The SMART-3 6.12 R. It uses a carbon fibre forearm, absolute resolver
feedback and 0.15mm repeatability.
CRS Robotics
5344 John Lucas Drive
Burlington, Ontario
Canada L7L 6A6
tel: 905.332.2000
fax: 905.332.1114
net: info@crsrobotics.com
url: http://www.crsrobotics.com
In Europe:
ISRA Systemtechnik GmbH
Industriestraße14
D-64297 Darmstadt, Germany
tel: 06151/948-0
fax: 06151/948140
100675,2676@compuserve.com
CRS Robotics sells a number of manipulators. Several articulated units including
the A255 and A465 as well as a gantry style system, the G365. Sell end-effectors
as well (electric, vacuum and penumatic) Wrist can be bought separately.
Controllers use RAPL, a VAL-like language. Fairly open architecture. 3Kg
payloads +/- 0.05mm repeatability. CRS also sells vision systems for recognition
and inspection applications.
CRS Robotics provides both standard automation products as well as turnkey
automation systems for a variety of processes in the laboratory. For the
pharmaceutical drug discovery laboratory, CRS provides complete automated
systems for a number of key operations, including combinatorial chemistry,
automated storage and retrieval, compound dissolution and high throughput
screening. For the quality control laboratory, CRS' systems provide automation
solutions for such processes as content uniformity testing, dissolution
testing, solid fat content determination testing and almost any other process
that is characterized by a large number of repetitive tasks.
Eshed Robotics
Eshed Robotec
Israel (HQ)
tel: 03-498136
fax: 03-498889
In the US
Eshed Robotec Inc.
445 Wall St.
Princeton, NJ 08540-1504
tel: 609.683.4884
tel: 800.777.6288
Eshed Robotec BV
Oude Torenweg 29
5388 RK Nistelrode
The Netherlands
tel: +31.412.611476
fax: +31.412.613185
net: eshedbv@pi.net
url: http://www.pi.net/~eshedbv/ and http://www.eshed.com
Eshed makes a variety of robot manipulators for education, training and
instructional use. This includes a half-dozen manipulator products, vision
systems and a variety of machining and manufacturing systems. Eshed has
sold over 8000 robots for training and education.
Eshed has many dealers throughout Europe. Many dealers can be found at:
dealer list
International Submarine Engineering Ltd, ISE
1734 Broadway Street
Port Coquitlam, B.C.
Canada V3C 2M8
tel: 604.942.5223
fax: 604.942.7577
url: http://www.ise.bc.ca/
E-mail: info@ise.bc.ca
Underwater manipulators and teleoperated underwater vehicles.
Kawasaki Robotics (USA Inc.)
28059 Center Oaks Court
Wixom MI 48393
tel: 810.305.7610
fax: 810.305.7618
KR Home page
Kawasaki was the first Japanese mfg to lead in the production of industrial
robots. They licensed the former Unimation line of robots and now make about
a dozen types of electric arms for welding, painting and assembly.
Kinetic Sciences
3250 East Mall
Vancouver, BC, CANADA V6T 1W5
tel: 604.822.2144
fax: 604.822.6188
net: info@kinetic.bc.ca
url: http://www.asi.bc.ca/asi/affiliates/kinetic/KSI_home_pg.html
Kinetic Sciences Inc. (KSI) provides technology innovation, research services
and product development in the field of advanced robotics for operation
in hazardous or menial environments. Our areas of expertise include: innovative
robotic mechanisms (such as our Tentacle robot arm), computer vision (6
DOF position measurement and automatic inspection), advanced sensors, and
autonomous control. For further information check out our web pages at:
KSI
Komatsu
Construction Robotics Department
contact: Shigeo Ohno
fax: 81.44-288-6177 (japan)
email: shigo-o@aix.or.jp
url: http://www.japan.hosting.ibm.com:80/komatsu/index-e.htm (English)
The LM15-1 mini crane is a compact and portable electrically powered manipulation
system. The device can be transported in a van and can be easily moved up
and down stairs by rubber crawler tracks or winched vertically. The LM15-1
can work in relatively small spaces of 4x10m in area. It is powered by 100VAC,
and has wireless remote control. Load specifications are 150kg at 3m. The
telescoping boom can reach to 4m. It can be stored in a compact size of
about 1m^2 and can be split into two even smaller pieces to ease storage
and transport further.
See the URL listed above for more details and pictures. Price: Y3,200,000
(between US$25-32K depending on the exchange rate)
Kraft Telerobotics
11667 W. 90th Street
Overland Park, KS 66214
tel: 913.894.9022
fax: 913.894.1363
Nice telerobotic arms for underwater work.
Labman Automation Ltd
Stokesley, North Yorkshire. TS9 5JY. UK
net: tel:INT 44 642 710580
url: www.quay.co.uk/labman/
[soon to be www.zebra.co.uk/labman/]
Contact: Andrew Whitwell Tailoring mainly gantry based systems for laboratory
applications. Designs include storage systems, multiple manipulators, special
probes, modification of instruments and laboratory equipment. PC driven
stepper drives, linear drives, dc motors, pneumatics, all sensors, RS232
links, LIMS communication. Systems include powder feeding, wet chemistry
analysis, microtitre plate handling and many more.
mecos Robotics AG
Technopark Zurich
Pfingstweidstrasse 30
CH-8005 Zurich
Switzerland
tel: + 41 1 445 11 35
fax: + 41 1 445 11 34
net: mecos@mecos.ch
Contact: E. Nielsen
[RUMORED TO BE OUT OF BUSINESS as of 8/96] Spin-off of the Institute of
Robotics, ETH (Swiss Federal Institute of Technology). Modular and adaptive
robot manipulators and robot vehicles (mobile robots). All mecos Robotics
systems use a VME based computer as controller. The system comes with high
level development tools, and are open systems. The manipulator's mechanical
configuration can be changed at will (number and type of joints, length
of links, etc.) Manipulators use linear aluminum extrusions with integral
motions for joints. The controller accounts for configuration changes. With
this principle of modularity and flexibilty hybrid force / position controllers
have been realised on "mecos Robotics" arms. Price depending on
configuration (50.000,- Swiss Franks and upwards). NTSC or PAL videos available
for Sfr. 40 per tape.
Mitsubishi
Mitsubishi PA-10 portable robot.
7 DOF, with continuous path control
Supposedly *open* control architecture, using PC
30 Kg arm, 25 Kg controller, 10 Kg payload
[I have no other information on this, anyone?]
Motoman [Hobart/Yaskawa]
Corporate Office:
805 Liberty Lane,
West Carrollton, OH, 45449.
tel: 513.847.3300
Sales Office
Dublin, OH
tel: 614.718.6200
Large industrial manipulators for welding, painting, palletizing, dispensing,
etc. Can be floor, ceiling or wall mount units. Payloads for the 8 robots
in the K-series range from 3kg to 100kg and repeatability of 0.1 to 0.5
mm over that same range. They are vertical jointed-arm type manipulators.
(i.e. 4 bar linkage to reduce arm intertias). 3 S-series robots are SCARA-type
manipulators with payloads of 50-60kg and varying workspace sizes Yaskawa
also has bought the rights to RobotWorld, Vic Schienman's unique gantry
design robot system. This system allow a number of mobile modules in the
same workspace to zip around at speeds up 80"/sec (3G accel). RAIL
and C can be used in a multilevel programming environment. 0.002" Accuracy,
0.0005" repeatability. Neat stuff.
Oxford Intelligent Machines (OxIM)
12 Kings Meadow,
Osney Mead Industrial Estate
Oxford, OX2 0DP, UK
tel: +44 (0) 865 204881
fax: +44 (0) 865 204882
contact: Dr. Peter Davey
Incorporated in 1990, OxIM provides a complete design service in the related
fields of industrial sensors and automation. OxIM is manufacturing and developing
robots and advanced industrial equipment. The MAP-IT vehicle is an open
architecture research vehicle for indoor environments. The top surface,
complete with an array of mounting holes, is available to the user for moutning
experimental sensors and payload. Two direct drive motor-gearbox units provide
locomotion. An extended 3U rack contains a controller card and power converter
drive card. A third spare slot is provided. 400mm diam with payload surface
200mm above ground. Remote base station including power supply, dual RS232
ports, Full ANSI source code, 2 spare axes of servo control, bumper system,
10kg payload, 65W power supply. Several options are also available including
PC interface.
Salisbury Robotics, Inc.
20 Pemberton St.
Cambridge, MA 02140
tel: 617.661.8847
net: jks@ai.mit.edu
Sells the three-fingered Salisbury hand and force sensing fingertips. Contact:
Ken Salisbury,
Sands Technology International
US
Sands Technology International Inc.
825 Highway 33, Trenton NJ 08619
tel: 1.609.584.7522
fax: 1.609.584.0239
email: robotics1@aol.com
contact: David Sands or Annis Monforte
UK/Europe
Sands Technology Ltd.
Orwell House, Cowley Road, Cambridge, UK
tel: 44 1223 420288
fax: 44 1223 420291
email: robotics1@dial.pipex.com
contact: David Sands or Cathy George
Sands has been making robots since 1989. Sands make 3 robots, a low cost
5 axis bench top articulated arm, a bench top cylindrical format arm and
a modular Cartesian arm which can be quite small or quite large depending
on customer needs.
All the robots are low cost, driven by stepping motors with sophisticated
controls. Fairly fast, fairly accurate, very reliable. The controller is
open, and uses an extension of FORTH we called ROBOFORTH which has over
400 commands (not counting building blocks) See Sands Home Page for more
details including drawings dimensions, speeds, payloads etc.
Sarcos Research Corporation
390 Wakara Way,
Salt Lake City, Utah 84108
tel: 801.581.0155
Spinoff of University of Utah's Center for Engineering Design (CED). Teleoperated
systems, manipulators. Audio-animatronic work as well. Beautiful force reflecting
work and systems. High performance and small hydraulic valves and actuators.
IP address: sarcos.com
Schilling
1632 Da Vinci Court
Davis, CA 95616
tel: 916.753.6718
fax: 916.753.8092
url: http://www.schilling.com
Electro-mechanical engineering and manufacturing company specializing in
telerobotics. Various remote manipulator and telerobotic manipulator systems.
Seiko Instruments
Torrance, CA
tel: 310.517.7850
fax: 310.517-8158
url: Seiko Instruments
Seiko Instruments offers a complete line of industrial robots including
SCARA, Cylindrical and Cartesian robots which are some of the fastest in
the world. They also offer a point and click Microsoft Windows based Vision
System which works with all our robots or as a stand alone system.
Sony Corporation of America
Factory Automation Division
542 Route 303
Orangeburg, NY 10962
tel: 914.365.6000
fax: 914.365.6087
Several SCARA type manipulators including a double armed manipulator. This
model is used for the assembly of 8mm camcorders!
Robotics Research Corp.
P.O. Box 206
Amelia, OH 45102
tel: 513.831.9570
fax: 513.381.5802
RRC offers a variety of dexterous manipulators which can be operated individually
or in dual-arm mode. Their second generation, denoted the "i-Series",
is lighter and provides great dexterity. They are currently building "spaceflight-qualified"
manipulators for NASA (GSFC) using this new generation of their product.
They have also been doing some work developing sensor-based automatic obstacle
detection and avoidance technology which uses a patented algorithm with
arm-mounted sensors. They have also built two massively-redundant 17-DOF
Anthropomorphic systems for Grumman and JPL to serve as testbeds for researching
"man-equivalent" robots for space applications.
Robotic Systems International (RSI), Ltd.
9865 W. Saanick Rd.
Sydney, BC V8L 3S1
Canada
tel: 604.656.0101
UMI Microbot [no longer in business in the US]
In the UK:
Oxford Intelligent Machines, UK
tel: 0865 204881
Originally known as the Microbot teachmover. A small cable driven manipulator
for desktop robotics. Excellent teaching tool. Original design by John Hill
(now at SRI) Microbot was bought out by the British company UMI two years
ago. In May, 1991 they moved from Silicon Valley to Detroit, MI. As of Early
1994, only the UK company was still in business.
USA Robot
PO Box 4018
Portland, ME 04101
tel: 207.761.9039
Maxym production robots for business. Simple accurate 3D linear motions
coupled with power tooling such as routers, air drills and sanders. Workspaces
up to 60cmx147cmx15cm. IBMPC software for designing parts and production
path but takes DXF files as input. Not a machine like the giant production
turning and routing machines used by large furniture makers but is a nice
small machine for small production shops. Prices range from $14.5K to $19.9K.
Western Space and Marine
111 Santa Barbara St.
Santa Barbara, CA 93101
tel: 805.963.3831
fax: 805.963.3832
Telerobotic manipulators for space and undersea applications.
Yamaha Robotics
PO Box 956
Broomall, PA 19008-0956
tel: 800 92-YAMAHA
fax: 610.543.8113
Yamaha makes HXYA series of light cartesian robots. AC brushless motors
can move payloads up to 50kg at 1.4m/s. Aluminum extruded frames that are
lightweight, rigid and easy to mount. Work envelope sizes from 250mm x250mm
to 2050mm x 1050mm. <--
<>
Zymark Corp
Zymark Center
Hopkinton, MA 01748-1668
tel: 508-435-9500
Robots for laboratory automation. Zymate Robots.
Other companies: (no addresses, yet)
Furukawa
Sumitomo
Chubu
Beckman Biomark
HP ORCA
Tecan
[8.3] Integrators and resellers
AAA Industrial Robot Store
5802 Coppock Drive
Indianapolis, Indiana 46221
tel: 317.856.0095
fax: 317.856.2965
net: robotman@robotman.com
url: http://www.robotman.com/
Integrator of turnkey welding robotic workcells from robot manufacturers
such as Panasonic and Nachi. AAA IRS sells systems like the Panasonic PerformArc
100, a complete robot workcell, that can be simply plugged in and and in
production use within two weeks of training and programing.
[8.4] What other Organizations are working with robotics?
This list is a small fraction of companies and other organizations that
are actively working in robotics. One way to obtain more companies is to
search through proceedings of conferences or find member companies of many
of the organizations listed in previous FAQ sections. Industrial robotics
is used widely throughout a number of companies. Most large aerospace companies
have groups working in or looking into robotics. Lockheed Martin (Denver),
Rockwell International (Downey, CA), Boeing (Seattle) to name a few.
Educational Organizations (Not Universities)
KISS Insitute for Practical Robotics (KIPR)
10719 Midsummer Drive
Reston, VA 22091
contact: Dave Miller
tel: 703.620.0551
fax: 703.860.1802
net: kipr@src.umd.edu
url: http://www.ai.mit.edu/people/dmiller/kipr/kipr.html
KISS Institute for Practical Robotics is a private non-profit educational
corporation. As an organization dedicated to promoting education and utilization
of practical integrated robotics, KISS Institute provides an umbrella for
conducting joint research projects, dispersing information, and teaching
courses involving members from many different home institutions.
Computers, Robotics and Artists Society of Houston [CRASH] See CRASH
Research Centers
Advanced Robotics Research Centre
Salford, UK.
The Advanced Robotics Research Ltd (incorporating the National Advanced
Robotics Research Centre, UK) is a joint UK Government and UK Industries
funded research organisation involved in the research of enabling technologies
for the advanced robotics systems.
Automation and Robotics Research Institute (ARRI)
7300 Jack Newell Blvd. South
Ft. Worth, Texas 76118
tel: 817.794.5900
Mechanical Engineering Lab (MEL)
Tsukuba City, Japan
Kazuo Tanie: Robotics and cybernetics
Electrotechnical Laboratory (ETL), AIST, MITI.
1-1-4 Umezono, Tsukuba, Ibaraki, 305 Japan.
General description:
ETL is a govermental institute with about 630 staffs and annual budget of
over 10 billion yen including personnel expenses, covering a broad area
related to electronics, physics, material sciences, device technology, energy
technology, standards and measurements technology, bio-electronics, information
science, computer science, computer systems, artificial intelligence, and
robotics. Gopher host: gopher://etlport.etl.go.jp
Robotics group:
Intelligent Systems Division covers robotics and related areas. It consists
of following sections; Intelligent Machine Behavior, Autonomous Systems,
Computer Vision, Interactive Interface Systems, and Communicating Intelligence.
The robotics group in the division foucuses on intelligent robots and system
integration. Its current research topics include, but not limited to, Dextrous
manipulation, Motion planning, Active vision, Multi-sensor fusion, Multi-fingered
hands, Hand-eye systems, Mobile robot navigation, Multiple-robot cooperation,
Intelligent teleoperation, Learning, and Architecture.
The robotics group at ETL has continuously been at the frontier of intelligent
robotics research.
PostDoc positions:
ETL accepts postdoctoral research fellows from all over the world. Mainly
two support programs are available: STA fellowship and AIST fellowship.
They require a doctoral degree, age no greater than 35, fluency in Japanese
or English, etc. Typical research period is one year (2 yrs max.). The fellowship
includes a basic allowance (270,000yen/month) plus family allowance (50,000yen/month),
housing cost, and a round trip air ticket (1 person). The fellowships are
highly competetive and have different application procedures depending on
an applicant's nationality. Those who are interested should contact their
local governmental agency for international research cooperation (such as
NSF in USA). A more convenient way might be to catch a member of ETL staff
at some conference and inquire about the fellowships.
Graduate Summer Institute Program:
ETL is a member of the graduate summer institute program. The robotics group
hosts a couple of guest student researchers every summer. The Graduate Summer
Institute program is based on Japan-USA contract on research cooperation
in science and technology. It is open for graduate students in the USA who
are majoring in science and technology fields.
The aim of the program is to provide opportunities for the students to get
acquainted with Japanese culture, science and techonology, and to promote
future collaboration in research in science and techonology. Here is some
data from last year's example.
Period: 2 months (Late June -- Late August).
Program (subj. to change): Japanese classes. Research at host institutes.
Lectures, Meetings, Going to Kabuki, Kyoto tour, Official Receptions.
Support: Return air ticket, domestic transportation, accomodation, japanese
classes, tours.
Contact: Japan Programs, Division of International Programs, NSF.
Arbeitsgemeinschaft der Groforschungseinrichtungen (AGF)
(Association of National Research Centers)
Wissenschaftszentrum
Ahrstrae 45
Postfach 20 14 48
53144 Bonn
tel: (02 28) 3 76 74-1
fax: (02 28) 3 76 74-4
http://www.gmd.de/AGF-Anschriften.html
These are sixteen research centers in Germany. One of the research centers
is GMD and they do robotics. GMD is at http://borneo.gmd.de/AS/janus/pages/janus.htm
National Aeronautics and Space Administration (NASA)
NASA Headquarters
NASA Headquarters, Washington DC. Contact: Dave Lavery email: dave.lavery@hq.nasa.gov
URL: Dave Lavery's Home Page
The ongoing NASA robotics research program develops autonomous, semi-autonomous
and teleoperated systems and technologies for applications in Earth orbit
and on planetary surfaces. Technology efforts are focussed on local autonomy,
dexterous manipulation, task-level command and control, and contending with
extremely harsh environments.
NASA HQ Telerobotics Home Page
NASA Ames Research Center
Moffet Field, CA.
I, TROV and Ranger projects. http://maas-neotek.arc.nasa.gov/
NASA Goddard Space Flight Center (GSFC)
Greenbelt, MD 20771
Contact: Stephen Leake
Since the cancellation of the Flight Telerobotic Servicer (FTS), the Robotics
Lab has been concentrating on work in the area of automated space craft
servicing. The goal is to replace or supplement Extra Vehicular Activity
(EVA) with teleoperated or semiautonomous robotic systems for external vehicle
maintenance. Current project includes a robot to assist in second Hubble
servicing mission.
NASA Jet Propulsion Laboratory
4800 Oak Grove Drive
Pasadena, CA
Contact: Chuck Weisbin,
The JPL robotics efforts concentrate on development, integration and demonstration
of A&R technologies, with a focus on plantary surface systems and autonomous
mobile rovers.
NASA JPL Robotics Home Page
NASA Johnson Space Center (JSC)
Houston, TX
Contact: Charles Price
More of an operations house but lots of shuttle RMS work. A number of robot
projects including testing of space station manipulator systems happens
at JSC. http://tommy.jsc.nasa.gov
NASA Kennedy Space Center (KSC)
Robotics and Automation Group
Contact: Bill Jones
http://www.ksc.nasa.gov/ksc.html
Like JSC, KSC is an operations house with responsibility to keep shuttles
flying and integrate payloads. There is a robotics group that is emplacing
ground support robotics applications. Recent work includes filter inspector
for launch pad payload areas, shuttle radiator inspector and a mobile system
for thermal protection system tasks. See the KSC Robotics and Automation
Page for more information.
NASA Langley Research Center, (LaRC)
Hampton, VA
Contact: Jack Pennington - vision, inspection, 3-D sensors http://www.arc.nasa.gov/
National Laboratories
The US National Laboratories are large complexes with a number of robotics
efforts. One current focus is the enormous and costly cleanup of the weapons
complexes throughout the country. Remediation, removal and cleanup of hazardous
materials will require hundreds of billions of $$$ and many years. Robotics
will be a key in much of this.
Sandia National Laboratories
Albuquerque, NM
Sandia is a DOE National Laboratory with a substantial program in robotics
at its Intelligent Systems and Robotics Center. The Center has interests
in manufacturing, hazardous material handling, site remediation, and research
to support these applications. Consequently areas of focus include assembly
planning, robotic interfaces, control theory, motion planning, sensor fusion,
sensor development, mobile vehicles, telemanagement, mobile vehicles, and
so on.
At the time of writing (2/15/93) the center has nearly 100 full-time staff
with degrees in computer science, mechanical engineering, mathematics, electrical
engineering, as well as a few in other fields. The mix is about 30% PhD,
40%MS, and 30% BS. Recent hires have come from Cornell, Stanford, Berkeley,
CMU, Illinois, Penn, ...
The center operates over 20 fully equipted labs including robots from Puma,
Adept, GCA, Cincinnati Millacron, and Schilling. The virtual reality lab
includes stereoscopic viewers from Fake Space, audio, speech recognition
and synthesis, and big boxes from SGI to drive the graphics. In addition
to the normal complement of departmental computing we have use of other
compute resources at Sandia including a 1000 node N-cube, a 1000+node Intel
Paragon, several crays, a CM-200 (16K procs).
Contacts: Randy Brost, Pat Xavier, Sharon Stansfield, Pang Chen, David Strip,
Jim Novak, Ray Harrigan, Pat Eicker, Bob Anderson.
Oak Ridge National Laboratory
Center for Engineering Systems Advanced Research
P. O Box 2008, MS-6364
Oak Ridge, TN 37831-6364
tel: 615.241.4959
fax: 615.574.7860
Contact: Dr. Lynne E. Parker, email: ParkerLE@ornl.gov
Research in mobile and manipulator robotics, including redundant and multiple
manipulators, cooperating mobile robots, parallel vision systems, sensor
fusion, laser range finder research, real-time quantitative reasoning and
behavior based control, and machine learning. Current applications include
robots for nuclear power stations, environmental restoration and waste management,
material handling, and automated manufacturing.
Researchers: James Baker, Marty Beckerman, Chuck Glover, William Grimmell,
Judd Jones, Reinhold Mann, Ed Oblow, Lynne Parker, Nageswara Rao, David
Reister, Phil Spelt, Michael Unseren.
US Department of Defense
Air Force's Robotics and Automation Center of Excellence (RACE)
Robotics and Automation Center of Excellence
SA-ALC/TIEST
450 Quentin Roosevelt Rd
Bldg 183
Kelly AFB
San Antonio, TX 78241-6416
url: http://www.kelly-afb.org/links/orgs/race/race.htm
net: ti-race@sadis01.kelly.af.mil
contact: Steve Knauber sknauber@sadis05.kelly.af.mil
The mission of the Robotics and Automation Center of Excellence (RACE) is
to insert appropriate robotics and automation technologies into Air Force
industrial processes. RACE accomplishes this mission by keeping abreast
of current technology and recommending any technologies that may resolve
present or future Air Force requirements. RACE is the link between industry,
universities, the Department of Energy, NASA, technical societies, contractors
and the Air Force.
RACE is also responsible for providing organic technical expertise to the
Air Force during integration of new robotics and automation system developments.
RACE acts as a consultant throughout the entire acquisition process, providing
technical evaluations from initial problem specification to implementation
of proposed solution. RACE employee expertise, in-house test and evaluation
facilities, and process studies are all used to support hardware transfer
to the user.
NRaD NRAD is the Research, Development, Test, and Evaluation Division of
the Naval Command Control and Ocean Surveillance Center (NCCOSC), located
in San Diego, California. NRaD and its predecessor organizations (Naval
Ocean Systems Center (NOSC), Naval Undersea Center (NUC), etc.) have been
involved in various aspects of robotics since the early 1960's.
Robotics research and development at NRaD are currently performed by two
groups:
The Advanced Systems Division (Code 37): land and air robots
The Ocean Engineering Division (Code 74): underwater robots
Companies
Redzone Robotics
2425 Liberty Avenue
Pittsburgh, PA 15222-4639
tel: 412.765.3064
fax: 412.364.3069
contact: Dave White
A spin-off of CMU, Redzone has focused on hazwaste and nuke manipulator
applications but is also developing mobile applications. Primarily protoypes
and not multiple unit manufacturing at this time.
Southwest Research Institute
San Antonio, TX
Robotics and Automation Department
Some large systems for servicing aircraft (painting, spraying, deriveting
etc)
[8.5] Small Inexpensive Robots
One of the most common discussions on the net are related to finding, building
and working on small and low cost robots. There are several small robots
on the market and a number of construction kits that robots can be built
from such as Lego, FischerTechnik, Erector and Capsula. None of these require
large investments. These systems are at most several hundred $US and can
run on a desktop. There are also a number of kit robots that include printed-circuit
boards and components.
Advanced Design, Inc.
6080 N. Oracle Road, Suite B
Tucson, Arizona 85704
USA
tel: 520.544.2390
fax: 520.575.0703
net: desk@robix.com
url: Robix WWW Site
ADI makes the Robix(tm) RCS-6 Robotic Construction Set, priced at US$550,
or US$565 for 220V/50Hz and PAL video. The RCS-6 is designed specifically
for use by educators and industrial modelers, and is used to build and operate
a wide variety of PC connected desktop robots. Included are many construction
parts, 6 hobby-type servos, an electronics interface with an 8-channel 8
bit A/D, power supply, software, manual, video, carrying case, and more,
even including a pair of safety goggles.
The 40-minute video that comes with the set is also available separately
for just the airmail postage cost: US$3 to US locations, $4 to Canada, $5
to Mexico and $8 to all other countries. Shown in the video are 5 different
arms built for (and performing) 5 different tasks, a pair of 3-servo-each
opposable fingers twiddling a ball, 3 animatronic figures, and a 3-legged
(but 6-footed) walker with both a walking and galloping stride. In addition,
an arm is built step-by-step in the video, and then programmed interactively.
The software includes a scripting interface as well as complete C and QuickBasic
4.5 libraries with documentation and sample code.
For complete technical information, a faq section, text of a cover story
about the RCS-6 in Popular Electronics Magazine, plus over 50 image files
(.gif's), a DOS PC .gif viewer, a useful section on what the set does *not*
do, and more, download from the anonymous ftp site: ftp://ftp.robix.com/pub/robix.
See the readme.txt file there first.
To get the video, order by phone or fax, or by email from desk@robix.com.
Visa and Mastercard are accepted.
Aleph Technology
Parc Heliopolis
16 rue du Tour de l'eau
BP 295-38407
Saint Martin d'Heres cedex, France
tel: +33 76422999
fax: +33 76444620
Small, turtle robot for education. 17000FF
Angelus Research
6344 Sugar Pine Circle #98
Angelus Oaks, CA
tel: 909.794.8325.
contact: Don Golding
net: http://www.AngelusResearch.com
Angelus' line of robot products includes:
Whiskers the Robot-A 13 pound rugged robot which is very intelligent and
is very simple to program ($895).
Advanced Whiskers-Two networked processors allow real-time collision avoidance
and navagation ($1895).
ARC-100 controller-Build your own intelligent robot($895) like Whiskers.
Networkable. ARC-110 controller-Like above but has our narrow beam sonar
onboard. Networkable.
HiPower Board-Drive two 10 amp DC motors($195).
MR-1-Series robot for the serious researcher or roboticist. Available March
1996. ($1995-$10,000).
Heathkit Hero intelligent upgrade kit ($795) includes:
1 ARC-110 controller
1 HiPower Board
4 6 inch Light sensor arrays
<--A small differentially-steered mechanism (no casters!) utilizing a
68HC11 controller w/ 32K RAM and RS-232 interface. Four visible collision
sensors (range 3-12 inches depending on ambient light) and two whiskers.
On-board battery (Pb- acid and built in charger) monitors current as well
for stall current. Software included with easy-to-use high-level command
set. Operable right out of the box. A lot of features for a very affordable
device. Fully assembled and tested: $695, wireless version $1195. Intro
to Whiskers Curriculum $95. Controller board available separately for $249.
Future developments include IR obstacle detector, sonar, pyro (people detector)
sensors, and magnetic compass. Video available for $5.-->
Capsula
Play-Jour International
Room 914, New World Office Building
(East Wing), 24 Salisbury Rd
Tsimshatsui, Kowloon, Hong Kong
Capsula is a robot construction set. Looks like a series of bubbles connected
together. Some intriguing modules including IR control, voice commands,
motorized clutches etc. Edmund Scientific sells this as do many toy stores.
Circuit Specialists Inc
PO Box 3047
Scottsdale, AZ 85271-3047
tel: 800.528.1417
tel: 602.464.2485
Quickshut robot arm sold by Circuit Specialists for $259. Appears to be
a nice low cost 5 axis arm for education. IBM (or compatible) interface,
kit including all components and board, power supply kit, software package,
logic probe and experiments and instructions. If anyone has information
as to who actually makes this please send me email. CSI has a FAX back service
at 1(800)622-5426. At the voice prompt, enter 3060 for more information
on the arm. The software package supplied includes test routines and Robot
control proceedures. The software is written in BASIC and Assembly languages.
The Electronic Gold Mine
PO Box 5408
Scottsdale, AZ 85261
tel: 602.451.7454
Roamer Robot Kit. A simple, hardwired robot kit with all parts necessary
to complete the kit. It sells for $39.95.
FischerTechnik
[Germany]
Fischerwerke
Arthur Fischer GmbH & Co. KG
Weinhalde 14-18
D-72178 Waldachtal
tel: germany 07443/12-487
fax: germany 07443/12-591
[USA]
Model Technologies
2420 Van Layden Way
Modesto, CA 95356
tel: 209.575.3445
fax: 209.575.2750
url: Fischertechnik
[UK] Economatics Ltd
Epic house, Darnell Road
Attercliffe, Sheffield
United Kingdom
tel: +44 742 56 11 22
fax: +44 742 43 93 04
telex: 5 47 095 ECOMAT G
Like Lego, Fischertechnik is a european-developed construction kit but much
more comprehensive in scope. Electro-mechanical parts galore including a
wide variety of switches, relays, slip rings, contacts, etc. Many types
of building block units as well and computer interfaces available. More
expensive than Lego. Model Technology, listed above, is one distributor.
See also the Robot Explorer in the publications section.
Here is a listing of some of the kits that they build: Interface for Macintosh:
"Service II" from Boenig and Kallenbach, sold by
Pandasoft Uhlandstrasse 195 D-1000
Berlin 12
fax: 030 315913-55
For DM 498.- for Mac Plus or better. 8 digital in and outputs, 2 analoguous
inputs. With Hypercard Stack Computing Experimental and driver software
for all Pascal versions, 4th Dimension and Ragtime (comparable to MSWorks).
Works also with the FischerTechnik Robot and Plotter assembly kit, 80 pages
manual in german?, 3 Diskettes.
There are also computing kits containing interfaces for C64, PC and Apple
II.
Profi Computing by Fischer Technik:
"High-end" kit, 3 motors, 6 switches, 4 lights, 2 fotocells, 20
plugs patch bay, construction base-support plate, 12 models explained as
there are a robot with a controlled hand, a plotter, a slot-machine, a credit-card
reader and a CD-player (certainly without audio out), 888 parts in total:
DM 376, needs the Service II interface.
Training robot by Fischertechnik:
3 rotation axes which may be controlled simultaneously. Working radius between
12 and 37 cm, fetching height: 6 to 25 cm, driven by 3 Fischer Technik S-motors,
positioning with infrared photocell, with cabling and manual, needs the
Service II interface, for DM 547.
Plotter/Scanner by Fischertechnik:
Scanning head not included, "heavy duty" construction, precision
less than 0.5 mm on a A4 surface, driven by 2 bipolar stepper motors, needs
the Service II interface. For DM 487.-
Computing by Fischertechnik:
10 models possible, all explained: antenna rotor, Plotter, Graphic Tablet,
2-axis robot etc., needs Service II and power supply for DM 298.-
One source for Fischertechnik that was claimed to be the best, cheapest
and fastest source is Tim King. He stocks a full line of all the kits as
well as the individual components, including repair parts or service.
Tim King Electronics
14595 Oceana
Allen Park, MI, 48101
tel: 313.928.2598
Graymark International
Box 2015
Tustin, CA 92681
tel: 800.854.7393
Graymark sells a variety of electronic kits, like Heathkit used to, and
some small robot kits that resemble the OWI kits. (see below) Currently
they sell a small sound-controlled robot "Scooter" (601A), a line
finder "blinky" (602A) , and a small programmable robot "Copycat"
(603A) and computer interfaces for the Copycat (parallel, serial and microprocessor
interface. Robots are from $19 to $57 and interfaces are $18-$41.
Johuco, Ltd.
Box 390
Vernon, CT 06066
Muramator and Photovore. These are simple robot control boards that are
hardwired but can be adjusted using potentiometers. They sell bare PCBs
and you can get the parts from Radio Shack or DigiKey. The PCBs sell for
about $25.00.
Khepera Support Team
LAMI - DI - EPFL
INF Ecublens
1015 Lusanne
Switzerland
tel: ++41 21 693.52.65
fax: ++42 21 693.52.63
net:
contact: Franscesco Mondada
Web site is at http://lamiwww.epfl.ch/Khepera
A VERY small mobile robot. Motorola 68331 Processor with 256K RAM and 256
or 512K ROM. Serial port. Six 10bit analog inputs. DC motor powered with
incremental encoders. Eight IR proximity and light sensors. NiCd batteries.
Additional capabilities can be added by using stackable K-extension bus.
Software environments: Calm assembler (PC or MAC), Gnu C compiler (on all
machines supported by GNU) and LabView (PC, Mac or Sun).
· Size: 55mm diameter, 30mm high
· Weight: 70grams
· Cost: 3000 Swiss Francs [About $2K US]
· Vision and Gripper modules under development.
See also:
Mondada et al. Mobile Robot Miniaturisation: A Tool for Investigation in
Control Algorithms. Third International Symposium on Experimental Robotics,
Kyoto, Japan, Oct 28-30, 1993
LEGO
Lego Dacta
555 Taylor Road
PO Box 1600
Enfield, CT 06083-1600
tel: 800.527.8339
fax: 203.763.2466
Canadian office for Lego/Dacta: tel: 800-387-4387.
LEGO Dacta is the educational branch of the LEGO company. Dacta sells the
LEGO Technic product line. These are the geared and motorized versions for
the LEGO system.
Use anonymous ftp to obtain a list of a variety of lego information and
application programs from: ftp://earthsea.stanford.edu/pub/lego/
CAD/ contains several languages for specifying models
faq/ contains latest faq sheet for alt.toys.lego
games/ Rules for games using lego people and pieces
images/ Pictures and drawings of sets and instructions
sets/ Database listings of lego sets and catalog numbers
upload/ Place your files here!
Lego kits recommended for robotics work include:
· 1038 Technical Universal Buggy - dual drive vehicle. $60
1032 Technic II w/ motorized transmission - $76
9605 Technic Resource Set - general parts kits - $200
Lego-to-Mac software:
Paradigm Software at tel:617.576.7675
Bots at tel: 415.949.2126
MIT has papers on LEGO projects available via FTP from:
ftp://kame.media.mit.edu/pub/el-memos.
The files are in memo8.* "LEGO/LOGO: Learning Through and About Design"
M & T Systems
POB 7816
Huntington Beach CA 92615
Contact M &T Systems at:
tel: 714.969.3166
fax: 714.969.3167
net: mandtsys@ix.netcom.com
[Tom Thorton] The HexWalker(tm) walking robot kit is based on the Insectoid
built by Gary Malolepsy of The Robotics Society of Southern California (RSSC),
and chronicled in the February, March and April 1994 issues of Robot Builder
(the newsletter of RSSC). The Insectoid robot was given passing mention
by Scott Edwards in the June 1994 issue of Nuts and Volts (How Far Can a
Stamp Take You?).
RSSC Club Officers had discussed kitting the walking robot up for members
for several months, but had taken no action. Finally, I built one for myself.
It generated so much attention at meetings that I decided to kit it out.
The HexWalker(tm) robot kit is the result.
As supplied in the kit the Hexwalker(tm) robot detects the world by means
of two feelers. Normal movement for HexWalker(tm) is to walk forward using
the opposing triangle gait. When the robot detects an obstacle (when a feeler
switch closes) it pauses, backs up several steps, turns left or right, and
resumes forward walking. HexWalker(tm) turns left when the right feeler
switch closes, or right when the left feeler switch closes.
HexWalker(tm) is large enough to work on easily. It measures 8 1/2 inches
(22cm) long (plus feelers), 6 1/2 inches (16cm) wide, and 2 1/2 inches (6cm)
tall. It is strong, able to support its own weight (12 ounces) plus about
an 8 ounce payload.
Modifying the basic robot is encouraged. Ideas for modification/improvement
include: Substitute LED photodetectors for the feeler/snapswitch sensors.
Add a second Stamp to HexWalker(tm) that performs sensor monitoring functions.
Add additional sensors to HexWalker(tm).
· Backup sensor to prevent walking into objects when walking backwards.
· Down sensor to detect "cliffs" and prevent walking off
edges.
· Sonar for long range sensing."
HexWalker(tm) sells for US $125.00.
California residents add 7.75% sales tax.
Shipping throughout North America is US $3.00.
Shipping to all others is US $15.00.
The kit without Basic Stamp (if you have your own controller) is US $100.00
plus s &h.
The construction manual alone is US $10.00 plus US $1.00 s &h.
Meccano/Erector
Headquarters:
363, avenue de Saint-Exupery
62104 CALAIS CEDEX - FRANCE
Tel. 21.96.63.90
Fax. 21.96.34.35
In the US:
888 Seventh Avenue
New York, NY 10106
Erector sets have been around for over 80 years and many interesting things
can be built with these construction sets. There are several mechanical
construction systems available. The best source of info I've seen is a list
put together by Colin Hinz at ftp://psych.toronto.edu/pub/meccano
The German model train company, Maerklin makes a Meccano compatible construction
set. They also have a 1007 Robotic Arm kit and programmable controller as
well. ~$300 You may be able to order it through a local train and hobby
shop.
Mondotronics
524 San Anselmo Ave.,
#107
San Anselmo, CA 94960
tel: 415.455.9330
800.374.5764 (orders)
fax: 415.455.9333
800.455.9333 (orders)
net: info@mondo.com
A wide variety of Nickel-Titanium Alloy products. Mondo can supply an email
brochure as well as a Muscle Wire FAQ. Products include:
Muscle Wire Project Book- New 3rd Edition. Presenting everything you need
to successfully design, build, and operate devices with Muscle Wire - nickel-titanium
filaments that actually contract when electrically powered and lift thousands
of times their own weight.
Topics include: Basic lever action, ratchets and latches, model railroad
crossing, AC power circuit, solar power circuit, paper airplane launcher,
life-like butterfly, rubber tube "flexi", proportional control,
radio control interface, programmable multiple wire controller & serial
port interface, PC parallel port interface and much more. Boris the six-legged
motorless miniature walking machine.
BORIS - A miniature motorless six-legged walking machine
SPECIFICATIONS
Length: 13.5 cm
Height: 4.5 cm
Weight: 30 grams
Power & Drive:
- Eight 100 um dia. Muscle Wires (50 centimeters total).
- 6 volts, 500 milliamp max.
- Full software control via PC parallel printer port.
-
MUSCLE WIRES PROJECT BOOK 3-133 $17.95
MUSCLE WIRES PROJECT BOOK & DELUXE KIT
Includes meter each of Flexinol 050, 100 and 150, plus crimps and instructions.
Enough to build all the projects in the Project Book including Boris the
motorless walking machine. An ideal starter package for engineers, students
and experimenters of all ages.
Project Book & Deluxe Kit 3-168 $59.95
MUSCLE WIRES RESEARCH & DEVELOPMENT PACKAGE
A complete package designed for corporate and laboratory Research and Development
work with shape memory alloys. Includes the following:
· Muscle Wires Project Book
· Five meters each of Flexinol 050, 100 and 150
· One meter of Flexinol 250
· Crimps & instructions
Muscle Wires R & D Package 3-102 $249.00
A wide variety of NiTiNol lengths and diameters are also available. Send
email to info@mondo.com.
OWI (Movit robots)
1160 Mahalo Place
Compton, CA 90220-5443
tel: 310.638.4732
fax: 310.638.8347
Many educational toy store, hobby stores, and electronic parts stores carry
these kits. Also available from:
Jayso Electrnics 800.426.4422 or 212.798.1050
Pitsco 800.835.0686
Edmund Scientific 609.573.6260 (See Robot Parts Section)
Hobbico 800.637.7660
These are small toy-like robots that reflexively respond to obstacles, sounds
or light depending on the model. They're cute and show what can be done
with a relatively small amount of hardware. The top of the line model is
the Wao II which has two 'feelers' for bump sensors and can be programmed
with an on board key-pad or via a host computer. It sells for $89.95. Most
of the other robot kits sell for between $35 and $55. The kits usually only
require mechanical hardware assembly (no soldering required.) Edmund also
has a Robotic Technology Curriculum with lessons and tests featuring the
Movit robots. Curriculum is $65 from Edmund Scientific.
Reality Robots
Marvin Green,
821 SW 14th, Troutdale, OR 97060
tel: 503.666.5907
net: marvin@agora.rdrop.com
Starter Kits
The B-BOT Frame:
This is a complete robot frame with a 360 degree bumper skirt and clear
head dome. The frame is six inches in diameter and uses two modified RC
servos (not included). The B-BOT can be controlled by a small microcontroller,
such as the BOTBoard, Mini Board, PIC or BASIC STAMP. The B-BOT Frame is
expandable, flexible, and makes it easy to get your robot projects off the
ground quickly.
The B-BOT Frame and assembly manual is $29.95. The B-BOT jr. (smaller, with
single level base) is $19.95. Please add $4.00 shipping for first kit, $1.00
for each additional kit. Please make check or money order to Marvin Green
at the above address.
The BOTBoard:
The BOTBoard is a bare printed circuit board designed for robotic applications.
The BOTBoard uses the popular 68HC11 microcontroller in a minimum configuration,
and is easily programmed >from your PC. Engineered to be flexible, the
BOTBoard is also powerful and easy to use. Each board measures 2" X
3" and contains 38 I/O pins, and a small prototyping area.
The BOTBoard is $5.95 each, or three for $15.00. Add $1.25 plus $.25 for
each board for shipping.
The ARMBOT:
The ARMBOT is a flexible three axis robotic arm. It is designed to use small
unmodified RC servos and a microcontroller. The ARM-BOT provides clockwise
and counter clockwise rotation of greater than 180 degree, shoulder lift
of greater than 45 degree a gripper range of about two inches. The ARMBOT
is surprisingly strong. It's fun to use, and can easily be build within
a couple of hours.
The ARMBOT kit and instruction manual is $12.95. Please add $2.00 shipping
and handling.
NOTE: These kits are designed to spark your intuitive engineering skills.
Each kit comes with a detailed manual, assembly instructions, diagrams,
parts list, and all the custom parts needed to build the kit. Common parts,
such as RC servos or ICs are not included because they can be purchased
elsewhere. Keep in mind that you may need to drill some holes or use a soldering
iron.
real_bot.zip contains three gif images of the ARMBOT and B-BOT. ftp://cherupakha.media.mit.edu/pub/incoming/real_bot.zip
Seattle Robotics Society BBS: (206) 362-5267
I designed these kits to help inspire people to build robots. The kits are
high quality and inexpensive. Please contact me for more information. martin@agora.rdrop.com
Rug Warrior
A K Peters
289 Linden Street
Wellesley, MA 02181
tel: 617.235.2210
fax: 617.235.2404
net: kpeters@geom.umn.edu
url: http://www.tiac.net/users/akpeters
A companion kit for the book, Mobile Robots: Inspiration to Implementation.
See Books section of this FAQ. The Rug Warrior circuit board is designed
to support the construction of small, yet sophisticated mobile robots. The
board provides all the processing, memory, and sensor circuitry needed for
a custom designed robot. $289.00. Does not include chassis, skirt and motors.
Rug Warrior offers the following features: Motorola MC68HC11 microcontroller,
LCD display (32 alphanumeric characters), 32K of battery backed RAM, RS-232
serial port, Collision detection from any of 6 directions, Photoresistor
light sensors, Infrared obstacle detection, Microphone for sound detection,
Piezoelectric buzzer generates tones of arbitrary frequency, Motor driver
chip allows control of two DC motors, Dual shaft encoders allow velocity/position
control, Four user controllable LEDs, Optional pyroelectric (heat) sensor,
Expansion capabilities for more sensors and actuators.
The kit consists of a circuit board with the logic and interface components
already soldered on and tested, plus all the sensors and other circuitry
needed to build the robot board as described in our book "Mobile Robots:
Inspiration to Implimentation."
The kit includes Interactive C (IC) on a disk for either Mac or PC. Self
test routines are also provided for each of the standard sensors and actuators.
In the near future A. K. Peters plans to offer a complete robot kit including
chassis, skirt, and motors.
The "Mobile Robot Kit", Rug Warrior from AK Peters is now available
in the "IBUKI Trading Post" on the WWW. The URL for the Trading
Post is: IBUKI The "Rug Warrior" can be found under "Toys
toys from IBUKI" on the "Robots" page. More robot kits will
be coming soon. If you want one listed please contact IBUKI. Questions or
comments can be sent to IBUKI from the pages of the Trading Post or by sending
email to rww@ibuki.com
Stiquito
The Stiquito is a small muscle-wire actuated robot developed by Jon Mills
and his students at Indiana University.
Stiquito is a small six-legged robot that you customize by adding sensors,
controllers, power sources, etc. The robot provides an inexpensive platform
to study computational sensors, subsumption architectures, neural gait control,
emergent cooperative behavior, and machine vision. It is currently being
used for research at IU, and, at a ratio of one robot per student, in "VLSI
for Robotics" and "Machine Learning" classes.
Stiquito is small (3cm H x 7cm W x 6cm L) and simple (32 parts) because
its legs are propelled by nitinol actuator wires. Each leg has one degree
of freedom. The robot walks up to 10 centimeters per minute and can carry
a 9-volt cell, a MOSIS "tiny chip" and power transistors to drive
the nitinol actuator wires. Alternatively, power and control can be supplied
through a tether.
After being innundated with requests for the unit, sales of the kits are
now being handled by Robotic Systems. Robotic Systems offers a kit to build
the Stiquto II walking robot The kit is $45 and includes a PCB for a PC-based
controller (Mac version coming soon).
Robotic Systems, Inc.
1102 West Glen River Road
Glendale, Wisconsin 53217
url: http://www.robotic.com
contact: Clint Laskowski, President
tel: 414.821.7675
fax: 414.963.4825
For more information including comprehensive technical reports on Stiquito,
please see http://www.cs.indiana.edu/robotics/stiquito.html
See ftp://www.cs.indiana.edu/pub/stiquito/STIQUITO.INFO for an overview
of Stiquito and the files at Indiana.
Technical report TR 414 - Stiquito II and Tensipede: Two Easy-to-build Nitinol-propelled
Robots is available in FINAL DRAFT via anonymous ftp from ftp://cs.indiana.edu/pub/stiquito
The report is archived as four .hqx (binhex encoded) .sea (stuffit lite
self-extracting archive) Microsoft Word 4, 5 & 6, available on PCs.
Macs should be able to read and print word 4 documents.
TSS Lynxmotion
Technical Service and Solutions
104 Partridge Road
Pekin, IL 61554-1403
contact: Jim Frye
tel: 309.382.1254
net: jfrye@dris.com
url: www.lynxmotion.com
TSS is Home of the Lynxmotion Robotic Arm. It uses Scott Edwards Mini SSC
Controller.
· 5 axis (base rotate, shoulder, elbow, wrist and gripper)
· All axis' are closed loop.
· Can be completely battery powered by a 9V and 6V battery.
· Extremely easy to program and control with any serial port.
· Can utilize a PC, single board computer, PIC or even BASIC Stamp.
· Very fast, accurate and repeatable movement.
· Available in three different configurations.
Basic kit
Includes all hardware, structural components, a 27 page detailed assembly
manual with illustrations, and software. You will need to provide the servos
and a Mini SSC servo controller.
Basic kit $60, additional $10 for software.
Level 2 kit
Includes all hardware, structural components, assembly manual, software,
6 servos and a Mini SSC servo controller.
Level 2 kit $180
Level 3 kit
Completely assembled and tested robot ready to move.
$255 with software included
Please note that there are additional shipping charges. See TSS' home page
or contact TSS for more details.
Tomy Armatron
The Armatron was sold by Radio Shack in the US and was a popular small plastic
manipulator. A mobile version, the Mobile Armatron was also sold. A number
of articles appeared in the hobbyist press regarding linking the Armatrons
to computers. The Armatron is a clever, maybe even brilliant, mechanical
engineering feat that uses a single motor to control all 6 degrees of motion
AND the timer. The mobile version is still being sold in Japan and is called
the "GO ROBO ARM" You might be able to pick one up at a flea market
or garage sale. They have shown up again in the Fall of 1994 in Radio Shack
stores. Buy it - they are neat, very clever, inexpensive and fun.
Articles:
· Computer Controlled Robot Arm, Jimmy Banas, Radio Electronics, pp.
49-53, and 117, May 1985. The control requires the addition of 6 DC motors,
and machining of 'bearing blocks' to hold gears and align shafts.
· Armatron: A Study in Arm Engineering, Mark Robillard, Robotics Age,
Nov/Dec 1982, Vol. 4 No. 6, pp.40-46 (cover photo too)
· Super Armatron, John J. Shiavone, Mike Dawson, and James E. Brandeberry,
Robotics Age, Jan 1984, Vol. 6, No. 1, pp. 20-28.
Myron A. Calhoun provided the following information on the Mobile Armatron:
The four batteries are wired in series; the center is reference, so there
is +/- 2.5 volts to control the motor. Between the main body (which holds
the battery) and the control head is a color-coded seven-wire flat cable.
The BLACK wire is one side of reference; the BROWN wire is the other side
of reference, and the reference wire color is WHITE. In the control head
are two rheostats (ganged) to control motor speeds by controlling applied
voltage.
Wire
color | Controls | Details
-------+--------------+----------------------------------------------------
BLUE | main UP | BROWN (~250 ma.)
| arm DOWN | BLACK (~200 ma.)
| | This motor has a spring counterbalance to assist
| | "up" motion. I did not disassemble the main arm,
| | but suspect there is quite a lot of gearing inside.
| |
ORANGE | wrist UP | BROWN (~200 ma.)
| DOWN | BLACK (~200 ma.)
| | I did disassemble this arm, and there are SEVERAL
| | layers of geardown involved.
| |
RED | finger CYCLE | BLACK (~200 ma. when open, ~235 ma. closed)
| | The open/close cycle is caused by a cam.
| |
| wrist ROTATE | BROWN (~225-255 ma.)
| | A ratchet mechanism permits finger-cycling versus
| | wrist-rotation using just one motor. When the
| | motor turns one way a ratchet locks wrist turning
| | but allows finger cycling, and vice versa.
| |
YELLOW | left FORWARD| BROWN (~350 ma. when driven by itself)
| drive REVERSE| BLACK (~350 ma. when driven by itself)
| wheel |
| |
GREEN | right FORWARD| BROWN (~350 ma. when driven by itself)
| drive REVERSE| BLACK (~350 ma. when driven by itself)
| wheel | When both wheels are driven in the same direction,
| | the total current draw is ~475 ma. Internally, both
| | drive motors are actually in one unit; I suspect
| | there is some clutch interlock between them.
I disassembled most of the body/forearm/wrist (but NOT the main arm) just
for fun. Inside the main turret is a pedestal upon which is mounted a small
PC card which terminates all wiring. Coming up from below are all seven
wires from the flat cable plus several (thinner) wires from the battery
compartment and the motors. They connect to the PC card IN THIS ORDER from
left to right when viewing from the rear:
BLACK BROWN RED ORANGE YELLOW GREEN BLUE WHITE (common)
Going up into the arm mechanisms are three wires, RED/WHITE, ORANGE/ WHITE,
and BLUE/WHITE, and associated with each is a white wire. In general, the
wiring is color-consistent; the RED-with-WHITE-stripe wire connects to the
RED terminal, the BLUE-with-WHITE-strip wire to the BLUE terminal, all of
the WHITE wires to the WHITE (common) terminal, etc. But inside the base
unit an ORANGE wire connected to one end of the battery (opposite the BLACK
wire connected to the other end of the battery). I did NOT see a BROWN wire
here as would be expected. Myron.
Ublige Software and Robotics Corporation
P.O. Box 18034
Huntsville, AL, 35804-8034
net: usr@delphi.com
url: http://www.traveller.com/~insecta/
tel: 205.518.9422
contact: Luis Lopez
Kits and pre-assembled robot walkers (insects). USR produces Electro-Optic
components and software tools for compound eye robotics. The catalog lists
a low-cost walking system kit called Prometheus and Sparticus on the order
of $1500 (US). A number of control and I/O modules are also available (eg.
RS232 interface, data acquisition, motor control module, motor driver etc.)
Leg units are also sold separately.
For USR's catalog, which includes a Video for Windows demo of their robots
in action and a selection of research articles, please send check or money
orderfor $3US within the United States or $7US for outside the United States
the address above.
Zagros Robotics
PO Box 460342
St. Louis, MO 63146-7342
tel: 314.768.1328
net: zagros@Walden.MO.NET
contact: Atha Jamar Neal III
Zagros sells two robot kits. All you need to add is a CPU, and you have
a fully functional robot. Zagros offers their own HC11 based processor board
with 'C' compiler. The Mini Max has a maximum speed of about 22.5 meters/minute.
Each drive motor generates 1.1 Nm of torque. The platform is 30cmx30cm 6mm
thick industrial plastic. Zagros accepts check, money order, COD, Discover,
Visa and Mastercard.
Mini Max Robot Kit $129.95 (plus $15.00 shipping) This kit includes the
following:
· (2) 12 volt DC drive motors
· (2) 15cm drive wheels
· (1) caster wheel
· (1) base plane 30cm x 30cm
· (1) battery power supply
· (1) motor driver kit
· (1) book of project notes
· (1) solderless breadboard
MAX '96 ROBOT KIT $189.95 (plus $15.00 shipping)
· (2) 12 volt DC drive motors
· (2) 15cm drive wheels
· (2) caster wheels
· (1) base plane 41cmx41cm
· (1) battery power supply
· (1) motor driver kit
· (2) pulse encoders
· (1) book of project notes
· (1) solderless breadboard
[8.6] Entertainment Robots
While not quite in the mainstream of robotics research at this time, there
are a number of companies catering to mainstream venues using animated figures
that are remotely controlled. These are often used to entertain people in
restaurants, at shows and conferences,promotional events and at a variety
of other types of gatherings.
However, entertainment is seen as a potentially lucrative and large market
for interactive robotic systems ranging from theme park venues to retail
attractions and museum events. The robots that entertain us in the movies
are, for the most part, remotely controlled devices using conventional servo
and actuation technology, perhaps enhanced with some teach playback capability.
This is changing however, as graphics capabilities subsume the need for
many mechanism-based special effects. Thus, movie-based robotic mechanisms
are likely only in the case of complex actor-device interactions or in environments
where it is still difficult to simulate, such as falling or splashing water.
Or as in the case of a recent movie - where the director wants realism -
'to frighten the actors'. Really.
The Robot Factory
3740 Interpark Drive
Colorado Springs, CO 80907
tel: 719.447.0331
fax: 719.447.0332
net: info@robotfactory.com
url: http://www.robotfactory.com/
Robots for advertising, education and entertainment since 1966. The major
product categories available from The Robot Factory include Talking signs,
mobile robots, animated Musicians and customized robots. Sarcos
360 Wakara Way
Salt Lake City, UT 84108
tel: 801.581.0155
Sarcos designs and manufactures audio-animatronic systems for Disney and
other theme park applications.
Last-Modified: Thu Aug 7 16:53:47 1997
Kevin Dowling <nivek@cmu.edu>