Research line
PERCEPTION AND MANIPULATION
Sensing devices
On the perception side, several sensing devices provide the required input that enables the robots to learn and to display an environment-aware responsive behavior.
Cameras include the following:
- Time of Flight (ToF) cameras: Swissranger sr3000 (x 1), Camboard (x 3) and CamCube 3 (x 1) from PMD Technologies
- RGBD cameras: Kinect v1 (x 5), Kinect v2 (x 2), Xtion (x 1), Intel RealSense Depth Camera D435i (x 2) (mounted on the TIAGo robots), Intel RealSense Depth Camera D455 (x 1)
- Infrared cameras: NIR (x 2)
- RGB cameras: Grasshopper (200fps) (x 2), Grasshopper3 GigE (5MP) (x 2), Flea2 (x 6)
- Stereo cameras: Bumblebee (x 2)
Robot wrist-mounted force and torque (F/T) sensors:
- 6 axes ATI F/T sensor
- 6 axes Schunk F/T sensors at the wrists of the TIAGos' arms (x 2)
- Chlorophyll measuring sensor Spadmeter (x 1)
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