TurtleBot 2's Kobuki mobile base - ROS compatible

Kobuki mobile robot: master of locomotion

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

Kobuki ROS Robot Resources

You will find all the necessary documentation for the Kobuki mobile base station, available online for free:

• Data sheet - Kobuki mobile base (en)
• User's Guide - Kobuki Mobile Base (en)
• Github ROS (en)