i90

Mechanics
The i90 is the result of extensive efforts to develop a robot that would be fast and strong, while itself remaining lightweight and nimble. The wheel-based platform’s two 12V DC motors with Integrated 800 Count per Cycle Optical Encoder each supply 550oz.-inch(40kg.cm) of torque to the i90’s 18 cm (7 in.) wheels, yielding a top speed in excess of 0.75 m/s. Weighing only 5kg (11 lb.), the system is light, but it can carry an additional payload of 15 kg (33 lb.). (Optional 40Kg)

Sensors
i90 offers full WiFi (802.11G) wireless, multimedia, sensing and motion capabilities and comes with a wide range of sensor, camera, and audio modules, sufficient to serve in any variety of applications. The i90 offers broad expandability as well for projects that may require additional sensors, even specialized modules. Powered by separate RC servo motors, the integrated camera head can pan and tilt independently.

Architecture
The i90’s underlying technology evolved from Dr Robot’s Distributed Computation Robotic Architecture, originally developed for Dr Robot’s Humanoid (HR) Robot. Using this approach, high-level control of the robot is maintained by a remote or local PC/server communicating by a secure wireless link. Low-level functionality is managed by an onboard digital signal processor (DSP) while computationally intensive operations are performed offboard. The result is a robot that’s lighter, draws less power, runs longer and is dramatically less expensive than a fully bundled or self-contained system. Moreover, since primary processing resides in a server, any hardware upgrades to the central unit are shared by all the robots it controls.

With its integrated high bandwidth (54Mbps) WiFi 802.11G wireless module, the system can upload all sensor data to a PC or server at rates in excess of 10Hz. Similarly, streaming audio and video (up to 30 fps) either for direct monitoring or for processing by high-level AI schemes is a snap. Commands and instructions sent to the i90 via the same wireless link also pass at rates exceeding 10Hz, providing real-time control and access.

The i90 includes all WiRobot development software components (for MS Windows 2000 and up), enabling easy access to all data and information in a standard Microsoft Windows programming environment (e.g., MS VB and VC++). Under the approach of using a separate PC for high-level control, there are no longer onboard restrictions on a mobile system’s processing power, memory and storage. For users of non-Windows operating systems (e.g., Linux), Dr Robot will provide the raw communication protocol for direct integration with any other system/device.

With the i90 system, researchers can develop a specialized intelligent robotic assistant, security robot or simply use it as a platform for a variety of projects built around applications such as human-machine interaction, mobile system navigation, robot behavior, image processing, object recognition, voice recognition, teleoperation, remote sensing, map building and localization etc.

The i90 system is fully integrated and each robot is fully assembled and tested prior to shipping so that it arrives ready for use.

Mechanical and Control Highlights:

• 550oz.-inch(40kg.cm) 12V DC motor with integrated 800 count per cycle optical encoder
• 7 inch driving wheel
• Max speed of 0.75 m/sec
• Dimensions:
  43.0 cm (Width: 17 in.) x 38.0 cm (Length: 15 in.) x 30.0 cm (Height: 12 in.)
• Weight: 5 kg (11 lb.)
• Large top mounting deck for additional devices such as a notebook computer
• Additional carrying payload:
  15 kg
  40 Kg (Optional, please contact info@drrobot.com for detail)

Electronic System Highlights:

• Fully integrated WiFi (802.11G) system with dual serial communication channels, supporting both UDP and TCP/IP protocol.
• Max 704×480 pixels, max 30fps, High Resolution Camera with 2-way audio
• 320×240 Color Programmable Touch LCD
• Battery: 2 x 3800mAh with over 3 hours for nominal operation.
  2 x 9000mAh with over 6 hours for nominal operation (Optional, please contact info@drrobot.com for detail)
• Power management and recharging system
• Collision detection sensors include 3 sonar range sensors and 7 IR range sensors
• 2 Pyroelectric Human Motion Sensors
• Joystick Control included
• Additional sensors such as supplementary sonar sensors, temperature sensors, acceleration/tilting sensor, 3D scanning laser rangefinder, RFID or customized sensors can be added.

OS Independent Programming Support 
OS (operating system) independent robot control and data communication protocols are provided for developing customized robot program for any operating system or devices that supporting TCP/IP communication. High level ActiveX controls are also provided for fast development under Windows 2000 or XP.

•   i90 Quick Guide

•   SDK API Reference Manual

•   Robot Explorer Program Manual