Groundhog knee deep in mine muck.2D mine map produced by Groundhog.3D mine map snapshot produced by Groundhog.Ferret1 deployed into the Mellon Institute void.Second generation Ferret with higher power laser range finder.Ferret2 scan of a limestone mine after a domeout, Kansas City, Kansas.Borehole deployable, inflatable mobile robot concept.
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BuoyBot
Ferret
Groundhog
Motivation
Mechanical
Electrical
Software
Field Trials
Spec Sheet
Magellan
NuBot
Site | Robots | Groundhog | Spec Sheet
Spec Sheet
SpecSheet
RobotGroundhog
SystemLevel
Range1
MeanTimeBetweenFailure10
DataDeliverables2D and 3D mine map
Mechanical
Locomotion
TypeWheeled
Drive4 Wheel
Steering4
DegreesOfFreedom2
Mass1600
TurningRadius7.5
TopSpeed28.5
AverageSpeed28.5
PeakOutputPower1
Electrical
PrimaryVoltage24
TotalEnergy3.5
EnergyDensity2
HotelPower75
DrivePower1000
PrimarySensor2 Scanning Laser Range Finders
CommunicationWireless Ethernet 802.11b
Software
LanguageC
OperatingSystemLinux (Debian)
AutonomyNone
TeleoperationInterfaceDirect control of actuators
ComputingPlatform
TypePC104
Processors1
ProcessorSpeed300
InputOutput4 RS422, 2 RS232, 3 1394, 2 USB, 1 DAC, 30 I/O
SupportedInterfacesRS232, RS422, IEEE1394, USB
Business
MaterialCost30000
DevelopmentTime60
SupportPersonnel2
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