ASGUARD IV
Advanced Security Guard V4
Contact person:
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: |
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)
Entern
Environment Modelling and Navigation for Robotic Space-Exploration
(10.2014- 12.2017)
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)
iMoby
Intelligent Mobility
(04.2009- 06.2012)
|
| Related Robots: |
ASGUARD III
Advanced Security Guard V3
ASGUARD II
Advanced Security Guard V2
ASGUARD I
Advanced Security Guard V1
|
| Related Software: |
Phobos
An add-on for Blender allowing editing and exporting of robots for the MARS simulation
|
System description
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.
