Advanced Security Guard V4

Technical Details

Size: bounding-box: (935mm x 560mm x 500mm), wheelbase: 520mm, wheel diameter: 416mm
Weight: 16Kg
Power supply:
Lithium Polymer Batteries: 4 x Kokam 15V 5000mAh
Actuation/ Engine:
DC-Motor: Faulhaber 3863 024 CR + planetary gear 66:1
- 360° Laser Scanner: Velodyne 32 Lidar
- Stereo camera: 2 x Entaniya Fisheye 220
- IMU: Xsens Mti-28A53G35
- Optical incremental Encoder Agilent AEDB-9140
mobile router: ASUS WL-330N3G, Long Range radio RF Modem: AMBER Wireless AMB8385
Embedded PC Quad Core i7

Organisational Details

Sponsor: Federal Ministry for Economic Affairs and Climate Action
Grant number: This project is funded by the Space Agency of the German Aerospace Center with federal funds of the Federal Ministry for Economic Affairs and Climate Action (BMWi) in accordance with the parliamentary resolution of the German Parliament, grant no. 50RA0907.
Application Field: Space Robotics
SAR- & Security Robotics
Related Projects: Persim
Perception for resource identification and long-term environment representation with simulating capability (07.2022- 06.2024)
Interpretable Monitoring Systems (12.2020- 06.2023)
Tandem of Rover and Associated Wain for Lunar Extended Roaming (09.2019- 08.2021)
Tethered Micro Rover for Safe Semi-Autonomous Exploration of Lava Tubes (07.2020- 10.2020)
Intelligent Mobility (04.2009- 06.2012)
Related Robots: ASGUARD III
Advanced Security Guard V3
Advanced Security Guard V2
Advanced Security Guard V1
Related Software: MARS
Machina Arte Robotum Simulans
An add-on for Blender allowing editing and exporting of robots for the MARS simulation
Robot Construction Kit

System description

Asguard v4 during field tests in a lava tube (Photo: Robbie Shone, ESA)
Asguard v4 during field tests in a rescue scenario (Photo: Florian Cordes, DFKI)
3D Models of the Asguard v4 system (Photo: Raúl Domínguez, DFKI)

The Asguard v4 is a leg-wheel hybrid which can be used in difficult outdoor environments. The system was designed on the basis of the predecessors in the Asguard series. The main improvement of the v4 system is in the modularity of the subsystems. Like the v3 version, Asguard v4 has a powerful on-board PC, which can be used to process the sensor data from the Laser-Range-Finder, the Cameras and IMU so that the system can operate in unknown terrain. Asguard does not rely on an external power supply, but can operate for multiple hours with its on-board batteries. The system can be tele-operated via videolink, but also has the ability to autonomously perform waypoint navigation with local obstacle avoidance. The powerful motors allow the system to carry payloads of multiple kg in mass.


Field tests during the project ENTERN

The latest version of ASGUARD with autonomous navigation features


Initial tests in the field of the current version 4 of the ASGUARD system

Weitere Bilder


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last updated 07.11.2023
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