Kobuki is a low-cost mobile research base designed for education and research on state of art robotics. With continuous operation in mind, Kobuki provides power supplies for an external computer as well as additional sensors and actuators. Its highly accurate odometry, amended by our factory calibrated gyroscope, enables precise navigation.

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Included components:

• Kobuki Base
• 1x4S1P battery 2200 mAh
• Battery charger
• USB communication cable

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Functional specificationL:

• Maximum translational velocity: 70 cm/s
• Maximum rotational velocity: 180 deg/s (>110 deg/s gyro performance will degrade)
• Payload: 5 kg (hard floor), 4 kg (carpet)
• Cliff: will not drive off a cliff with a depth greater than 5cm
• Threshold Climbing: climbs thresholds of 12 mm or lower
• Rug Climbing: climbs rugs of 12 mm or lower
• Expected Operating Time: 3/7 hours (small/large battery)
• Expected Charging Time: 1.5/2.6 hours (small/large battery)
• Docking: within a 2mx5m area in front of the docking station

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Hardware specification:

• PC Connection: USB or via RX/TX pins on the parallel port
• Motor Overload Detection: disables power on detecting high current (>3A)
• Odometry: 52 ticks/enc rev, 2578.33 ticks/wheel rev, 11.7 ticks/mm
• Gyro: factory calibrated, 1 axis (110 deg/s)
• Bumpers: left, center, right
• Cliff sensors: left, center, right
• Wheel drop sensor: left, right
• Power connectors: 5V/1A, 12V/1.5A, 12V/5A
• Expansion pins: 3.3V/1A, 5V/1A, 4 x analog in, 4 x digital in, 4 x digital out
• Audio : several programmable beep sequences
• Programmable LED: 2 x two-coloured LED
• State LED: 1 x two coloured LED [Green - high, Orange - low, Green & Blinking - charging]
• Buttons: 3 x touch buttons
• Battery: Lithium-Ion, 14.8V, 2200 mAh (4S1P - small), 4400 mAh (4S2P - large)
• Firmware upgradeable: via usb
• Sensor Data Rate: 50Hz
• Recharging Adapter: Input: 100-240V AC, 50/60Hz, 1.5A max; Output: 19V DC, 3.16A
• Netbook recharging connector (only enabled when robot is recharging): 19V/2.1A DC
• Docking IR Receiver: left, centre, right
• Diameter : 351.5mm / Height : 124.8mm / Weight : 2.35kg (4S1P - small)

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Software specification:

• C++ drivers for linux and windows
• ROS node
• Gazebo Simulation