ASGUARD IV

Advanced Security Guard V4


ASGUARD IV
Asguard V4 (Photo: Felix Grimminger, DFKI GmbH)

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:
servo: Dynamixel Rx-28, DC-Motor: Faulhaber 3863 024 CR + planetary gear 66:1
Sensors:
- laser scanner: Hokuyo –UTM-30LX
- stereo camera: 2 x Guppy F-036C / objective: TS4124-4mm Pentax
- IMU: Xsens Mti-28A53G35
- D-GPS: GPS-702-GG Dual Frequency GPS+GLONASS Pinwheel Antenna
- optical incremental Encoder Agilent AEDB-9140
Communication:
mobile router: ASUS WL-330N3G, Long Range radio RF Modem: AMBER Wirless AMB8385
Computer:
Embedded PC Quad Core i7

Organisational Details

Sponsor:
Grant number: This project is funded by the Space Agency of the German Aerospace Center with federal funds of the Federal Ministry of Economics and Technology (BMWi) in accordance with the parliamentary resolution of the German Parliament, grant no. 50RA0907.
Team: Team VIII - Knowledge-based long-term Autonomy
Application Field: Space Robotics
SAR- & Security Robotics
Related Projects: 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 of Economics and Technology

System description

CAD Model of the Asguard v4 system (Quelle: Felix Grimminger, DFKI GmbH)
Asguard v4 front-view (Foto: Felix Grimminger, DFKI GmbH)
Asguard v4 in an outdoor environment (Foto: Felix Grimminger, DFKI GmbH)
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, IMU and RTK-GPS, 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.

Videos

ASGUARD v4

Die aktuelle Version 4 von ASGUARD bei ersten Tests im Gelände

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© DFKI GmbH
last updated 11.05.2018
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