ASGUARD IV

Advanced Security Guard V4

Contact person:

M.Sc. Raúl Domínguez

Filedownloads

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
Sensors:	- 360° Laser Scanner: Velodyne 32 Lidar - Stereo camera: 2 x Entaniya Fisheye 220 - IMU: Xsens Mti-28A53G35 - Optical incremental Encoder Agilent AEDB-9140
Communication:	mobile router: ASUS WL-330N3G, Long Range radio RF Modem: AMBER Wireless AMB8385
Computer:	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) ROMATRIS Robotic material transport in disaster scenarios (09.2021- 08.2025) RoLand Agricultural Robotics (10.2021- 09.2024) INSYS Interpretable Monitoring Systems (12.2020- 06.2023) TRAILER Tandem of Rover and Associated Wain for Lunar Extended Roaming (09.2019- 08.2021) Skylight Tethered Micro Rover for Safe Semi-Autonomous Exploration of Lava Tubes (07.2020- 10.2020) Entern Environment Modelling and Navigation for Robotic Space-Exploration (10.2014- 12.2017) iMoby Intelligent Mobility (04.2009- 06.2012) TransTerrA Semi-autonomous cooperative exploration of planetary surfaces including the installation of a logistic chain as well as consideration of the terrestrial applicability of individual aspects (05.2013- 12.2017)
Related Robots:	ASGUARD III Advanced Security Guard V3 ASGUARD II Advanced Security Guard V2 ASGUARD I Advanced Security Guard V1
Related Software:	MARS Machina Arte Robotum Simulans Phobos An add-on for Blender allowing editing and exporting of robots for the MARS simulation Rock Robot Construction Kit

Federal Ministry for Economic Affairs and Climate Action

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.