Expressive, helpful and entertaining, ARI helps you design the social interactions you are aiming for. ARI has been created as a safe, interactive and autonomous robot that can help you with customer-facing activities.
As a receptionist, guide, entertainer or presenter; ARI connects with your customers. Find out more by reaching out to our team here.
How easy is it to deploy ARI?palmarketing2022-08-04T18:20:02+02:00
ARI is very easy to deploy. It has an intuitive user interface that helps you easily adapt the robot to your needs. If you want to know more about how to use ARI to your environment, we are happy to hear more about your needs and help you along the way. You can reach out to our team via the contact form and we will get back to you within at most one business day.
How Is ARI integrated into my environment?palmarketing2022-08-04T18:22:36+02:00
ARI is easily integrated with external systems. ARI has WiFi capabilities and could connect to your facility network infrastructure and internet based cloud services. It has a powerful and extensive API that integrators and end-users can take advantage of in order to connect the robot with thousands of different services.
Is ARI able to work in my environment without any modifications?palmarketing2022-08-04T18:17:31+02:00
ARI adapts to most environments, so you won’t need to make any modifications in the majority of the cases. ARI uses advanced technology based on multiple sensors that allows the robot to safely interact and navigate without requiring any modification such as guiding tracks or other complex installation that other platforms might need.
How many languages can ARI speak?palmarketing2022-08-04T17:40:18+02:00
An intuitive and user friendly web-based interface allows you to easily alter ARI’s touchscreen content, speech, and even create your own gestures. This way, we ensure that the applications and behavior of ARI can be easily controlled from any device such as desktop, smartphone or tablet.
How can I customize my ARI robot?palmarketing2022-08-04T18:07:40+02:00
ARI’s motions, speeches and touchscreen contents are easy to adapt by using the provided SDK to match the needs of your application. ARI’s eyes are also customizable for enabling better interactions.
Multiple themes are available for the touchscreen and the brightness is adaptable to different light conditions. In case you need a customization for a larger volume of units such as a special color, please let us know and we will be happy to find a way to help you.
I would like to set up a Demo with ARI, how can I get started?palmarketing2022-08-04T17:58:06+02:00
We provide a state estimation from IMU+kinematics out-of-the-box, a system for fusing this odometry with additional external measurements should be tackled with an additional estimator out of the real-time ros_control loop. This would be safer for the whole body torque control that rely on the CoM estimation.
Which programming languages does it use?palrobot2020-05-05T10:23:14+02:00
A RESTful API is provided to integrators and end-users to handily integrate our AMRs with your ERP or business’ internal system. This way, you can command your fleet of TIAGo Bases from the same software you use to have everything under control.
If you have any further questions about logistics automation and software integration, contact us!
How does StockBot work?palrobot2020-05-05T10:03:56+02:00
From a user point of view the Whole Body Control software package enables easy and safe commanding of the end effectors of the robot by just specifying where you want it to be in real world coordinates.
The Whole Body Control software package is a quadratic hierarchical solver working at 200 Hz implemented by PAL Robotics providing on-line inverse kinematics of the whole robot body. The solver is given a stack of tasks with different priorities. An example of stack of task is the following one:
In this example, the Whole Body Controller is able to bring the end-effector to any desired pose in the cartesian space and to keep the gaze of the robot towards a desired point (this could be the user defined tasks) and the solutions to accomplish these lower priority tasks would always avoid joints limits and prevent self-collisions (these higher priority tasks would be included for safety).
Note that standard inverse kinematics solvers are not able to deal with joint limit and self-collisions avoidance, which are of key importance when commanding the robot.
You can choose the option that suits your needs best: Use our intuitive Web GUI, compatible with multiple devices (tablet, computer, mobile, etc). Integrate our AMRs with your ERP or internal management system. We can provide you or your integrator a RESTful API for a straightforward integration.
And you’re ready to go!
Can StockBot perform inventories around customers?palrobot2020-05-05T09:52:56+02:00
Sure! StockBot was born to adapt to all that happens inside of a store. Taking inventory while the store is open, with people around, is how StockBot works most of the time. Its advanced navigation system enables the robot to detect any person around, or to update its map if the furniture distribution is modified. Get in touch with us to learn more.
Is it possible to monitor the battery status?palrobot2020-05-05T09:42:53+02:00
Sure! You can even combine diverse configurations of TIAGo Bases within your fleet according to your needs. We provide a Fleet Control Software to assign tasks, optimize routes, perform traffic control and enable analytics. Ask us for more details or if you have any special request!
How is StockBot configured?palrobot2020-05-05T09:56:31+02:00
StockBot is set up in your facilities in a single day, when our team maps the store area and integrates the robot into your store’s inventory system. After that, you can easily define the areas of interest and forbidden areas in StockBot’s intuitive web GUI. As simple as this!
What are the main advantages of TIAGo with respect to other similar robots?palrobot2020-05-05T08:35:49+02:00
PAL Robotics has been developing robotic platforms for research since 2004. Its main developments include the two humanoid robots REEM and REEM-C, and TIAGo inherits all the technology and robustness resulting from years of development and extensive use of the robots. PAL Robotics designs all the mechanics and electronics of its robots in a modular way, integrating high quality components like Harmonic Drive reducers in the arm motors and CAN bus for communication between electronic components. The CAN bus is more robust than other buses like RS-485 as it includes the data link layer of the OSI model and handles better faults and collisions. PAL Robotics provides more than just a hardware platform. The company is integrating all its software in ROS since 2011. Building blocks of software and comprehensive documentation is provided to the customers in order to start working with the robots and obtaining results in a short time. Furthermore, for those who want low level access to the hardware, support is provided in order to do so. Software packages including autonomous navigation, perception, manipulation and HRI are provided.In order to enlarge the lifetime of our robots PAL Robotics provides extended warranty options and maintenance plans.
How many languages can REEM-C speak?palrobot2020-05-05T10:20:37+02:00
Yes, you can program TIAGo Base to work the hours your business needs. Once it fulfills all the tasks assigned, TIAGo Base will go back to its dock station and recharge while waiting for a new command.
If the mobile robot runs out of battery in the middle of a task, our Fleet Control Software can autonomously send another TIAGo Base to take it over, ensuring a constant production flow.
Tell us how many deliveries you need in your production line, your warehouse, or your company, and we can give you accurate details on that!
How does it charge?palrobot2020-05-05T10:00:00+02:00
StockBot goes to recharge in its dock station autonomously after completing an inventory. The robot can run up to 12 hours continuously before going to the dock station, and completely recharges in 4 hours.
How long is the autonomy of TIAGo?palrobot2020-05-05T09:44:04+02:00
You can leave your space as it is, the TIAGo Base doesn’t need any guide, track, or requirements to autonomously navigate and perform the deliveries.
TIAGo Base is an Autonomous Mobile Robot (AMR) and uses an advanced set of sensors and software to safely navigate without following any guide. This is a huge step ahead from the traditional AGVs.
TIAGo Base’s Artificial Intelligence generates the most efficient route to reach its delivery point, which is flexible and can change according to the production/business needs. People and other mobile elements, can safely move around it and even cross its way.
How precise does StockBot locate items in space?palrobot2020-05-05T09:48:32+02:00
You can watch videos of TIAGo in action through the following YouTube TIAGo Playlist. In here you will find TIAGo robot used for many research projects, robotics competitions or showing specific features. Enjoy!
How easy is to attach our own end-effector?palrobot2020-05-05T09:24:09+02:00
Two ways of integrating third-party end-effector are possible:
Integration of a CANopen end-effector: the wrist exposes a CAN bus connector and PAL provides the drawings of the mounting part. Then, the customer can design the required mechanical part to attach the end-effector to the wrist and connect to the bus.
Integration of an end-effector using another communication bus: in this case the customer can design the mechanical part to attach the end-effector to the wrist and use external cabling to connect to one of the ports provided in the laptop tray user panel (i.e. 1x USB 2.0, 1x USB 3.0 and 2x GigE ports) and the power supply (12 V, 5 A).
Furthermore, PAL Robotics offers customization and integration services to help the customer to integrate other end-effectors.
Can TIAGo be used for dexterous manipulation?palrobot2020-05-05T09:05:03+02:00
Yes. Both the parallel gripper and the 5-finger hand (hey5) can detect when an object is grasped by monitoring the current consumption of its motors. Furthermore, the hey5 hand is underactuated, it has 19 degrees of freedom and 3 motors, so that it adapts to the shape of the objects. Thanks to the 6-axis force/torque sensor on the wrist, forces and motions in manipulation tasks can be precisely controlled.
What are the deepest levels of interfacing to the hardware?palrobot2020-05-05T09:00:10+02:00
The driver of the robot is written all as components. The ros_control architecture gives easy access to the hardware using standard ROS interfaces. The interface to the robot hardware are simple Orocos ports that have vector message types corresponding to each joint, to command position, velocity, current or read the mentioned values. If you don’t want to use ros_control you can always connect directly to these ports.
What is the “Whole Body Control” software?palrobot2022-08-24T11:13:35+02:00
From a user point of view the Whole Body Control software package enables easy and safe commanding of the end effector of the robot by just specifying where you want it to be in real world coordinates. The Whole Body Control software package is a quadratic hierarchical solver working at 100 Hz implemented by PAL Robotics providing on-line inverse kinematics of the whole robot upper body (7 DoF arm, 2 DoF head and torso prismatic joint). The solver is given a stack of tasks with different priorities. An example of stack of task is the following one:
In this example, the Whole Body Controller is able to bring the end-effector to any desired pose in the cartesian space and to keep the gaze of the robot towards a desired point (this could be the user defined tasks) and the solutions to accomplish these lower priority tasks would always avoid joints limits and prevent self-collisions (these higher priority tasks would be included for safety). Note that standard inverse kinematics solvers are not able to deal with joint limit and self-collisions avoidance, which are of key importance when commanding the robot.
Yes. Thanks to the sensorless torque current control this option is provided with the robot for free. Furthermore, an online control switch is implemented, allowing the user to switch between different control modes instantly.
Does the robot have force control?palrobot2020-05-05T08:57:07+02:00
Yes. Compliance in TIAGo’s arm is achieved by using two mechanisms:
Sensorless torque control: open-loop torque references are commanded. This is based on feedforward current control which is achieved thanks to the accurate model of the arm dynamics including mechanics, electronics cabling and covers and the low friction of the joints. This results in a high acceptable force control in the operational space.
Admittance control: using the data from the force/torque sensor of the wrist, positions can be commanded taking external forces into account obtaining even much better results than when using sensorless torque control.
Is it possible to add my own controllers to TIAGo?palrobot2020-05-05T08:49:47+02:00
Yes. The user only needs to create ros_control plugins to implement new controllers and add them to the ros_controllers or replace the desired ones. The new controllers will run in the real-time control loop and will have access to the full robot hardware interfaces exposed by ros_control.
What kind of controllers does TIAGo have?palrobot2020-05-05T08:51:23+02:00
The different motors of the robot can be controlled using ROS interfaces. All the controllers provided are implemented as plugins of ros_control and are contained in ros_controllers. All the controllers run in the real-time control loop and have access to the full robot hardware interfaces exposed by ros_control. The motors of TIAGo can be controlled in the following modes:
The wheels of the mobile base can be controlled through velocity mode.
The motor of the lifting torso and the two motors of the head can be controlled in position mode.
Finally, the motors of the arm can be controlled in position and in effort mode.
Which is the maximum speed of the arm?palrobot2020-05-05T08:52:37+02:00
The arm of TIAGo is composed of the following motors:
4x M90 modules. This self-contained hollow-shaft modules contain brushless DC motors with absolute encoders, integrated power and control electronics and Harmonic Drive reductions. The firmware of the electronic boards implement control PIDs for position, velocity and torque.
1x M3D wrist with 3 DoF made of 3 brushed DC motors with absolute encoders and custom electronic boards. The embedded electronics provide control PIDs for position and velocity.
All the actuators of the arm use CAN-bus for communications. Furthermore, the modules and the wrist include a wide variety of self protection mechanisms (over-temperature, over-current, under-voltage, over-voltage, …).
Which software is included with TIAGo?palrobot2020-05-05T08:46:06+02:00
Yes. We offer different upgrade possibilities so that you may ship your platform back to us whenever you want and we can transform it to any other TIAGo configuration. We have a long history working with universities and understand that some of the budget might be available at different moments in time, we can adapt to this situation and offer upgrades on your TIAGo Base or TIAGo platform after acquiring it.
Can I purchase multiple robots?palrobot2020-05-05T08:39:18+02:00
TIAGo has a CAN bus for communication between the electronic components. The CAN bus is more robust than other buses like RS-485 as it includes the data link layer of the OSI model and handles better faults and collisions.
Are the Hey5 hand and the parallel gripper interchangeable?palrobot2020-05-05T08:36:31+02:00
Yes, TIAGo’s simulation is open-source and available for everyone. In order to use the public simulation model for Gazebo follow the instructions in http://wiki.ros.org/Robots/TIAGo. We make a great effort on keeping our simulators up to date and having them work accurately, allowing for a very easy transition from simulation to the robot.
Do you have any other question or doubt? We will be happy to clarify anything you’d like to know!
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