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드론봇 챌린지 참가를 위한 4족 로봇 개발

안동현1, 김현석1, 김건오2, 윤성준2, 전호진1, 김승준2, 남궁준연2, 홍승표2, 이재순1, 조백규3,#orcid

Development of a Quadruped Robot for Participation in the Dronebot Challenge

DongHyun Ahn1, HyeonSeok Kim1, GeonO Kim2, SungJoon Yoon2, HoJin Jeon1, SeungJun Kim2, Junyeon Namgung2, SeungPyo Hong2, JaeSoon Lee1, Baek-Kyu Cho3,#orcid
Journal of the Korean Society for Precision Engineering 2021;38(10):725-731.
Published online: October 1, 2021

1 국민대학교 일반대학원 기계설계학과

2 국민대학교 일반대학원 기계시스템공학과

3 국민대학교 기계공학부

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#E-mail: swan0421@gmail.com, TEL: +82-2-910-4817
• Received: June 18, 2021   • Revised: August 11, 2021   • Accepted: August 30, 2021

Copyright © The Korean Society for Precision Engineering

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  • This paper introduces PongBot, a quadruped robot developed for preparation in the Dronebot Challenge held in Jangseong-gun, Jeollanam-Do, South Korea in November 2020. The Dronebot Challenge, hosted by the Army Headquarters, is a competition to demonstrate that drones and robots can be useful for military purposes. In 2020, this competition consisted of a total of 8 events and we participated in the ‘Traveling on rough terrain’ event, which consisted of various terrains, such as, slopes, unpaved roads, and streams. PongBot is a quadruped robot that uses an electric motor and can walk for more than an hour on various terrains. Also, according to the rules of the competition, the robot had a system which could be remotely controlled from a ground control station. In addition, by applying the SLAM algorithm, the robot operator received information about its surrounding environment, thereby deriving records to facilitate the operation. The performance of this robot system and SLAM algorithm was verified through this competition.
  • KEYWORDS: Quadruped robot, Dronebot challenge, Robot design, Locomotion
  • KEYWORDS: 4족 로봇, 드론봇 챌린지, 로봇 설계, 보행
2011년 후쿠시마 원자력 발전소 사고, 2019년 12월부터 발생한 코로나 바이러스 등 인류를 위협하는 재난 상황을 우리는 종종 마주한다. 이러한 위험한 상황에서 사람을 대신하여 주요 임무를 수행할 수 있는 로봇의 필요성이 점점 커지고 있다.
현재까지 상용화된 대부분의 로봇들은 바퀴형, 궤도형, 그리고 드론의 형태를 갖는다. 하지만 이러한 로봇들은 계단, 험지, 실내와 같은 제한된 구역에서 이동이 제한된다. 따라서 최근 다리형 로봇에 대한 수요가 증가하고 있다. 그 대표적인 사례가 Fig. 1의 보스턴 다이나믹스에서 개발한 Spot이다.1 이 로봇은 4족 로봇으로 계단, 경사로, 험지 등 사람이 이동할 수 있는 대부분의 지형을 이동할 수 있기 때문에 건설 현장, 재난 현장, 군부대 등에서 사용되고 있으며 앞으로 화성 탐사용으로 사용될 예정이다. ANYbotics사에서 만든 ANYmal C는 학습을 기반으로 한 안정한 Trot 보행이 가능하다.2 특히 알프스 산맥을 트래킹할 정도로 보행 성능이 우수하며, 이러한 기술력을 바탕으로 상업화에도 성공을 거두고 있다.
Fig. 1

Spot (Boston dynamics)

KSPE_2021_v38n10_725_f001.jpg
대한민국 육군에서도 로봇에 대한 연구를 활발히 진행하고 있으며, 대표적으로 그들은 2018년도부터 드론봇3 전투단을 육성하고 있다. 드론봇은 드론과 로봇의 합성어이다. 육군은 드론봇을 통해 적의 핵심 표적을 감시 또는 필요 시 적을 타격함으로써 전구 작전 목표를 달성하고자 한다. 또한 전장에서 전투원의 능력을 보완하거나 대체함으로써 전투의 효과성과 효율성을 증대시키고, 전투 피해를 최소화하고자 한다. 2018년부터 매년 개최되고 있는 드론봇 챌린지는 이러한 드론봇의 가능성을 확인하고, 기술력을 끌어올리기 위한 대회이다. 참가 자격은 국내 드론 및 로봇 관련 업체 또는 학교이고, 2020년 제3회 드론봇 챌린지에서는 총 8개 종목에 19개팀이 참가하였다.
우리는 이 대회의 험지 극복 기동 부문에 참가하기 위해 4족 로봇인 PongBot을 설계하고, 이 로봇으로 평지, 경사로, 계단, 시냇물에서 이동할 수 있는 보행 알고리즘을 개발하며, 대회 규정에 따라 지상 통제기(Ground Control Station, GCS)에서 로봇을 원격 조종할 수 있는 시스템을 구축한다. 그리고 로봇의 현재 위치를 확인하고, 정찰한 구역의 형상을 알기 위해 실시간 위치 인식 및 지도 작성(Simultaneous Localization and Mapping, SLAM) 알고리즘을 로봇에 적용한다. 우리는 2020년 11월 전라남도 장성군에서 개최된 드론봇 챌린지에 참가하여 이 로봇 시스템과 SLAM 알고리즘의 성능을 검증하고자 한다.
본 논문의 구성은 다음과 같다. 2장에서는 드론봇 챌린지에 대해 소개한다. 그리고 3장에서는 대회 참가를 위해 우리가 개발한 로봇의 하드웨어, 소프트웨어, 원격 조종 시스템, 그리고 SLAM 알고리즘을 보여주며, 4장에서는 대회 결과를 정리하고, 마지막으로 5장에서는 결론을 기술한다.
육군본부에서 주최하는 드론봇 챌린지는 2018년부터 매년 개최되고 있으며 드론과 로봇의 군사적 유용성을 테스트하기 위한 대회로 모든 경진 분야들은 실제 전술환경에서 이루어진다. 2020년 대회에서는 Table 1과 같이 총 8개의 경진 종목으로 대회가 이뤄졌고, 참가팀은 기업체 18개팀, 대학교 1팀으로 총 19개팀이 참가하였다. 이중에서 우리는 유일한 대학교팀으로 8번 험지극복 기동(Traveling on Rough Terrain) 부문에 참가하였다. 이 부문은 경사로 등반, 비포장도로 보행, 경사로 하강, 갈대숲 통과, 자갈밭 보행, 실개천 보행, 목표 표적지 탐지로 구성되며 총 이동 거리는 약 250 m이다. 각각의 미션은 쉬는 시간 없이 연속적으로 수행되어야 한다. 따라서 로봇은 한번의 배터리 충전으로 모든 미션을 완수해야 한다. 또한 로봇의 이동한 경로는 GPS를 통해 데이터(GPS 시간, 위도, 경도, 고도)로 저장되어 대회를 마친 후 목표 표적지 이미지와 함께 주최측에 전달되어야 한다.
Table 1

Field of competition

Table 1
Type
Drone 1. Long-distance reconnaissance
2. Reconnaissance inside the building
3. Target attack
4. Multiple drones control
5. Transport
6. Passing through the forest
Robot 7. Reconnaissance inside the building
8. Traveling on rough terrain
3.1 로봇 하드웨어
국민대학교 로봇제어연구실에서는 Fig. 2와 같이 대형견 크기의 4족 로봇인 PongBot을 개발하였다. Table 2는 로봇의 사양을 보여준다. 로봇의 무게는 53 kg, 자유도는 12 DOF이며 Kollmorgen사의 BLDC 모터가 사용되며, 각 관절에는 RLS사의 증분형 엔코더와 절대형 엔코더가 사용된다. 그리고 감속기는 Harmonic Drive사의 SHD 모델이 사용된다. 로봇의 PC는 총 2대로 하나는 Intel사의 NUC로 영상처리 및 맵핑에 사용되고, 다른 하나는 Neuromeka사의 Step PC24로 모션 컨트롤에 사용된다. 휴엔텍사의 HU520을 통해 후방 환경 이미지를 획득하고, 삼성사의 휴대폰을 통해 전방 환경 이미지를 획득한다. IMU 센서는 LORD사의 3DM-GX5-25 모델을 사용하고, Velodyne사의 LIDAR VLP-16을 사용하여 주변 환경을 매핑한다. 또한 GPS는 u-blox사의 C940m8p-3 모델을 사용한다.
Fig. 2

PongBot hardware

KSPE_2021_v38n10_725_f002.jpg
Table 2

PongBot hardware specifications

Table 2
Size [m] (L×W×H) 1 × 0.5 × 0.6
Weight [kg] 53
DOF 12
Motor controller Elmo gold whistle solo
Motors Kollmorgen BLDC motor
Encoder RLS (Absolute + Incremental)
Gear Harmonic drive SHD (50 : 1)
Main controller NRMK step PC2
Intel NUC
Battery 48V Lithium ion
Sensors Huentek HU520 (Vision)
Samsung cell phone (Vision)
3DM-GX5-25 (IMU)
Velodyne VLP-16 (LIDAR)
u-blox C940m8p-3 (GPS)

3.1.1 Knee Joint 가속 링크 설계

Trot 보행은 네발 중 대각선에 위치한 두발이 번갈아가며 이동하는 보행 방법이다. 그래서 두발로 지지하는 순간이 길어질수록 로봇이 불안정해질 가능성이 높아진다. 또한, 드론봇 챌린지 대회같이 험지 환경에서는 로봇을 불안정하게 만드는 요소가 많다. 그래서 우리는 스윙발을 빠르게 이동시켜 두발 지지 시간을 줄이는 보행 전략을 사용하였다.
로봇에 적용된 스윙다리의 수직방향 궤적은 Fig. 3과 같이 주기는 100 ms이며, 발 높이는 10 cm이다. 시뮬레이션으로 로봇의 무릎관절 속도-토크 커브를 만들면 Fig. 4(a)처럼 필요한 무릎 모터의 속도가 구동기의 최대 속도를 넘는다. 이 문제를 해결하기 위해 우리는 4절 링크의 링크비를 Fig. 5와 같이 L1이 L2보다 1.5배 길게 설계하여 입력단 대비 출력단이 약 1.5배 가속되도록 하였다. 따라서 동일한 출력단 속도에서 입력단의 속도는 1.5배로 줄어들며, 대신 토크는 4절 링크의 출력단보다 입력 단이 1.5배 증가하게 된다. 그 결과, Fig. 4(b)처럼 구동기의 용량 내에서 궤적이 만들어지게 된다.
Fig. 3

Vertical trajectory of the swing foot

KSPE_2021_v38n10_725_f003.jpg
Fig. 4

Torque-Speed curve of the knee joint

KSPE_2021_v38n10_725_f004.jpg
Fig. 5

Four-Bar linkage mechanism

KSPE_2021_v38n10_725_f005.jpg

3.1.2 발바닥 설계

야외에서 임무를 수행해야 하는 드론봇 챌린지의 환경을 고려하면 충격을 흡수하고, 내구도가 높은 발바닥을 적용해야 한다. 기존에는 3D 프린터로 자유로운 조형이 가능해서 로봇과의 결합이 용이한 TPU 재질의 발바닥을 사용하였다. 내부 채우기 밀도를 조절하여 원하는 경도로 만들 수 있는 장점이 있으나 표면이 미끄러워 슬립이 일어나는 문제가 있었다. 또한 적층형 3D 프린터 출력물 특성상 외벽이 결 방향으로 쉽게 손상되고, 외벽이 손상됨에 따라 격자 구조로 채워진 내부 역시 그 구조가 쉽게 붕괴되는 등 내구성이 낮았다.
이를 해결하기 위해 Fig. 6과 같이 충격 흡수를 위한 쇼어A 경도 50의 우레탄과 내구성을 위한 고무를 결합한 형태의 발바닥을 설계한다. 우레탄은 Clear Flex 50™ 제품을 사용하며 3D 프린터로 출력한 몰드를 통해 원하는 모양으로 성형한다. 성형한 우레탄에 접착제로 신발 밑창 고무를 붙여 험한 지형에서도 오래 사용할 수 있도록 한다. 또한, 다리 부품을 감싸는 우레탄 구조와 볼트 체결을 위한 구멍 및 프레임을 추가하여 PongBot 하드웨어와의 결합성을 개선한다.
Fig. 6

Robot foot made of urethane and rubber

KSPE_2021_v38n10_725_f006.jpg

3.1.3 로봇 통신 시스템

Fig. 7과 같이 Controller PC는 EtherCAT 통신을 사용하여 1 kHz 주기로 각 Actuator를 제어한다. 또한 IMU 센서는 RS-232 Serial 통신을 사용하여 0.5 kHz 주기로 Controller PC에 로봇 Body의 Euler Angle과 Angular Velocity 데이터를 보낸다.
Fig. 7

PongBot’s communication system

KSPE_2021_v38n10_725_f007.jpg

3.1.4 GPS 모듈

GCS에서 운용자가 로봇의 실시간 위치를 파악하기 위해선 GPS를 통한 데이터 확보가 필요하다. 드론봇 챌린지에서도 중요한 평가 지표로 로봇의 이동 경로를 GPS 데이터로 확보 및 제출하도록 하였다. 따라서 우리는 u-blox사의 C940m8p-3 모델을 사용하여 GPS 데이터를 확보한다. Fig. 8은 GPS 수신을 위해 사용된 스트럭처를 보여준다. GPS 모듈은 NMEA 0183 규격의 GPS 데이터를 Sensor PC로 보낸다. 여기서 우리는 u-blox ROS 패키지를 사용한다. 그 다음 Sensor PC는 NMEA 0183 규격의 정보 중 Zulu Time(그리니치 표준시) 기준의 시간, 위도, 경도, 및 고도 정보가 포함된 GNSS Fix 데이터를 GUI에 반영하고, Binary File로 저장한다.
Fig. 8

GPS data reception structure diagram

KSPE_2021_v38n10_725_f008.jpg
3.2 Ground Control Station (GCS) 시스템
드론봇 챌린지는 주최측에서 지정한 지상 통제기(GCS)에서 로봇을 원격으로 조종하여 주어진 미션들을 수행해야 한다. 따라서 우리는 로봇을 원격 조종할 수 있는 GCS 시스템을 Fig. 9와 같이 구성하였다. GCS에 있는 PC가 로봇에 부착된 Sensor PC에 원격 접속하기 위해 로봇에 부착된 와이파이 에그를 사용한다. 로봇에 부착된 GPS와 후방 카메라는 Sensor PC와 연결한 후, 로봇 운용 프로그램 개발을 위한 로봇 플랫폼인 Robot Operating System (ROS)를 이용하여 GPS와 카메라 영상 데이터를 획득한다. 실외 환경에서 와이파이를 이용한 원격 접속은 가끔 신호가 불안정하여 영상 이미지 딜레이가 간헐적으로 발생하였다. 휴대폰 영상통화 기능의 경우 딜레이가 1초 이내였기 때문에 우리는 휴대폰을 로봇에 부착하고, GCS에 있는 조종자와 영상통화를 통해 로봇의 전방 화면을 실시간으로 확인하였다. Sensor PC는 UDP 통신을 통해 Controller PC로부터 모터제어기 상태를 받고, Controller PC로 로봇의 목표 속도와 모드를 전송하였다
Fig. 9

GCS system architecture

KSPE_2021_v38n10_725_f009.jpg
Fig. 10은 로봇의 임무 수행을 위한 GCS 구성 화면을 나타내며, GPS Data, 전/후방 카메라 영상 이미지, Graphical User Interface (GUI)로 구성되어 있다. 조종자는 GUI로부터 GPS Data, 모터 제어기 상태, 로봇 Mode를 확인하고, GUI의 버튼들을 이용하여 로봇에 Command를 전송한다.
Fig. 10

GCS configuration

KSPE_2021_v38n10_725_f010.jpg
3.3 SLAM
무인 조종 로봇의 원활한 운용을 위해 로봇 주변의 지도 작성 및 자가 위치 인식을 위한 SLAM 알고리즘을 적용하였다. SLAM 알고리즘으로는 IMU를 사용하지 않아도 되는 LeGO-LOAM을 적용하였다. SLAM 알고리즘은 Sensor PC에서 구동되었으며, 부착된 Lidar 센서로부터 나오는 10 Hz Pointcloud 데이터를 사용한다. 국민대 캠퍼스에서 시험 주행을 한 결과 SLAM이 잘 진행되어 Fig. 11과 같이 실제 지도와 유사한 지도가 그려져 로봇의 지도 작성이 잘 되었음을 확인하였다. 적용된 알고리즘은 논밭 및 비포장 도로로 이루어진 장성군의 대회장에서도 잘 작동함을 Fig. 12와 같이 확인하였다.
Fig. 11

SLAM on mobile platform at Kookmin university campus

KSPE_2021_v38n10_725_f011.jpg
Fig.12

SLAM result on unpaved road in Dronebot Challenge 2020

KSPE_2021_v38n10_725_f011.jpg
본 연구팀은 4족 보행 로봇인 PongBot을 이용해 2020년 드론봇 챌린지에 참가하였으며, Fig. 13은 대회 당시에 미션을 수행중인 PongBot의 모습을 보여준다. Figs. 13(a)는 최대 35o의 경사를 오르는 미션이고, 13(b)는 약 200 m의 비포장 도로를 이동하는 미션이다. Figs. 13(c)는 최대 40o의 경사를 내려오는 미션이고, 13(d)와 13(e)는 로봇이 갈대숲과 자갈밭을 통과하는 미션이다. Figs. 13(f)는 시냇가를 통과하는 미션이고, 13(g)와 13(h)는 대회측에서 미리 준비해둔 표적지를 찾는 미션으로 ‘챌린’과 ‘지’가 각각 적혀있었다.
Fig. 13

Tasks and awards ceremony of the Dronebot Challenge 2020

KSPE_2021_v38n10_725_f013.jpg
우리팀은 경사로 등반, 비포장 도로 이동, 경사로 하강, 자갈밭 이동, 시냇가 이동, 표적지 포착 미션을 완수하였다. 하지만 갈대숲을 이동하는 미션은 실패하였다. 그 이유는 이동시 갈대가 로봇의 다리에 걸리며 로봇이 이동하지 못하였고, 갈대숲의 지면이 마른 땅이 아닌 진흙으로 되어 있었는데, 걸을수록 다리가 빠져 더 이상 이동이 어려웠다. 대부분의 미션들은 대회를 준비하며 많은 연습을 하였지만 갈대숲과 진흙으로 이뤄진 험지에서의 보행은 실험실 또는 학교 내에서 실험하지 못하였다. 하지만 우리는 높은 기술력을 요구하는 다관절 로봇 플랫폼을 이용하여 주최측에서 제시한 대부분의 미션들을 성공적으로 완료하여 기술혁신상이라는 값진 상을 수상하였다.
본 논문은 2020년 드론봇 챌린지 참가를 위해 국민대학교에서 개발한 4족 로봇 PongBot을 소개한다. PongBot은 전류제어기반의 4족 로봇으로 보행뿐 아니라 점핑이 가능하도록 설계되었으며, 1시간 이상의 구동이 가능하고, 평지, 계단, 경사로, 시냇물 등 다양한 환경에서 이동이 가능하다. 이 로봇으로 2020년 드론봇 챌린지의 험지 극복 기동 부문에 참가하여 7개의 미션 중 6개의 미션을 완료하였으며 기술혁신상을 수상하였다. 우리는 우수한 보행 성능과 안정적인 하드웨어, 우수한 주변 환경 인식 기술을 이 대회에서 보여주었다.
앞으로 우리는 퐁봇의 고속 이동 알고리즘에 대해 연구할 계획이다. 다양한 험지에서도 안정하고, 빠르게 이동할 수 있는 다리형 로봇의 달리기 모션과 균형 제어 알고리즘을 연구 및 구현할 것이다.
이 연구는 2021년도 산업통상자원부 및 산업기술평가관리원(KEIT) 연구비 지원에 의한 연구임(No. 10070171’).
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    Bouman, A., Ginting, M. F., Alatur, N., Palieri, M., Fan, D. D., et al., “Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion,” Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2518-2525, 2020.
    10.1109/IROS45743.2020.9341361
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    Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., and Hutter, M., “Learning Quadrupedal Locomotion over Challenging Terrain,” Science Robotics, Vol. 5, No. 47, Paper No. 5986, 2020.
    10.1126/scirobotics.abc5986
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    Shin, I. H. and Kim, Y., “The Development and Tactical Direction of the Dronebot of the Republic of Korea Army,” Defense & Technology, Vol. 486, pp. 60-71, 2019.
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DongHyun Ahn
KSPE_2021_v38n10_725_bf001.jpg
Ph.D. candidate in the Department of Mechanics and Design Engineering, Kookmin University. His research interests include walking and running pattern generation, whole-body control, and posture balancing control of legged robots.
HyeonSeok Kim
KSPE_2021_v38n10_725_bf002.jpg
M.S. degree in the Deparment of Mechanics and Design Engineering, Kookmin University. His reasearch interests include generating walking pattern for Quadruped robot and building simulation environments in ROS.
GeonO Kim
KSPE_2021_v38n10_725_bf003.jpg
M.S student in the Deparment of Mechanical Systems Engineering, Kookmin University. His research interest is balancing control of Segway and robotic system.
SungJoon Yoon
KSPE_2021_v38n10_725_bf004.jpg
Ph.D. student in the Deparment of Mechanical Systems Engineering, Kookmin University. His research interests include the footstep planning, vision of humanoid robot.
HoJin Jeon
KSPE_2021_v38n10_725_bf005.jpg
Ph.D canditate in the Deparment of Mechanics and Design Engineering, Kookmin University. His research interests include machine learning, reinforcement learning based control of robots.
SeungJun Kim
KSPE_2021_v38n10_725_bf006.jpg
M.S. student in the Deparment of Mechanical Systems Engineering, Kookmin University. His research interests include walking pattern generation, whole-body control of legged robots.
Junyeon Namgung
KSPE_2021_v38n10_725_bf007.jpg
M.S. student in the Deparment of Mechanical Systems Engineering, Kookmin University. His research interests include design and control of bipedal robot.
SeungPyo Hong
KSPE_2021_v38n10_725_bf008.jpg
M.S. student in the Deparment of Mechanical Systems Engineering, Kookmin University. His research interests include the design and control of real-time transmission of legged robot, design of planetary gear reducer.
JaeSoon Lee
KSPE_2021_v38n10_725_bf009.jpg
Ph.D. candidate in the Deparment of Mechanics and Design Engineering, Kookmin University. His research interests include the design and control of humanoid robot, lower-limb exoskeleton robots, redundant manipulator control and nonlinear control.
Baek-Kyu Cho
KSPE_2021_v38n10_725_bf010.jpg
Professor in the School of Mechanical Engineering, Kookmin University, Seoul, Korea. His research interests include the design and control of humanoid robots, walking and running pattern generations, and exoskeleton robots.

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Development of a Quadruped Robot for Participation in the Dronebot Challenge
J. Korean Soc. Precis. Eng.. 2021;38(10):725-731.   Published online October 1, 2021
DOI: https://doi.org/10.7736/JKSPE.021.054
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Development of a Quadruped Robot for Participation in the Dronebot Challenge
J. Korean Soc. Precis. Eng.. 2021;38(10):725-731.   Published online October 1, 2021
DOI: https://doi.org/10.7736/JKSPE.021.054
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Development of a Quadruped Robot for Participation in the Dronebot Challenge
Image Image Image Image Image Image Image Image Image Image Image Image Image
Fig. 1 Spot (Boston dynamics)
Fig. 2 PongBot hardware
Fig. 3 Vertical trajectory of the swing foot
Fig. 4 Torque-Speed curve of the knee joint
Fig. 5 Four-Bar linkage mechanism
Fig. 6 Robot foot made of urethane and rubber
Fig. 7 PongBot’s communication system
Fig. 8 GPS data reception structure diagram
Fig. 9 GCS system architecture
Fig. 10 GCS configuration
Fig. 11 SLAM on mobile platform at Kookmin university campus
Fig.12 SLAM result on unpaved road in Dronebot Challenge 2020
Fig. 13 Tasks and awards ceremony of the Dronebot Challenge 2020

Fig. 1

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Fig. 5

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Fig. 11

Fig.12

Fig. 13

Development of a Quadruped Robot for Participation in the Dronebot Challenge
Type
Drone 1. Long-distance reconnaissance
2. Reconnaissance inside the building
3. Target attack
4. Multiple drones control
5. Transport
6. Passing through the forest
Robot 7. Reconnaissance inside the building
8. Traveling on rough terrain
Size [m] (L×W×H) 1 × 0.5 × 0.6
Weight [kg] 53
DOF 12
Motor controller Elmo gold whistle solo
Motors Kollmorgen BLDC motor
Encoder RLS (Absolute + Incremental)
Gear Harmonic drive SHD (50 : 1)
Main controller NRMK step PC2
Intel NUC
Battery 48V Lithium ion
Sensors Huentek HU520 (Vision)
Samsung cell phone (Vision)
3DM-GX5-25 (IMU)
Velodyne VLP-16 (LIDAR)
u-blox C940m8p-3 (GPS)
Table 1 Field of competition
Table 2 PongBot hardware specifications

Table 1

Table 2

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