The Kobuki ROS platform had provided essential qualities to TurtleBot 2 during its development. To be found in the base only:
High-performance odometry, supported by the use of a factory-calibrated gyroscope;
Additional power to the sensors and other peripherals connected to the base;
A more than satisfactory autonomy given the wide range of devices to be powered: on-board computer, sensors, engines, etc.
Superior speed and manoeuvrability: Kobuki can overcome 12 mm high obstacles and ride at 70 cm/s.
Mobile base Kobuki: the benefits of the TurtleBot 2
The Kobuki mobile base, built by the Korean firm Yujin Robot, had served as a springboard for the ROS TurtleBot 2 mobile robot. Overhauled for the robot's needs, Kobuki took advantage of innovations from Willow Garage & ClearPath Robotics, especially in terms of operating time. The recharging station allows the base to be used in perfect autonomy. As soon as the robot gets close enough to the station, it mounts itself there and recharges for as long as necessary.
Technical specifications of the Kobuki robot
Included components:
1 Kobuki Base
1 1x4S1P battery 2200 mAh
1 Battery charger
1 USB communication cable
Functional specification:
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