Rackham

An B21r, built by iRobot. All the control architecture from LAAS has been ported to Linux and currently runs on the robot.
It is part of the Biospace mission exhibition at the « Cité de l'espace » in Toulouse from time to time from May 2004 to November 2005, guiding visitors in the spaceship.

Characteristics:

Wheels: 4 driving wheels Batteries: 4x12V, 1440Wh Bus: 2 PCI Busses Processors: 3 x Intel Pentium III Operating system: Linux Communication: IEEE 802.11b Wireless lan (11Mb/s) Sensors: odometry, 48 Sonar range sensors, 24 Infrared proximetry sensors, 1 Sick® 2D Laser Range Finder, 2 color cameras on pan & tilt platforms Human/robot interface: Flat panel touch screen Speech synthetisis by the ICP Dimensions (Diameter x H): 53cm x 185cm Weight: 140kg