Project Description

TIAGo

The robot that fits and adapts to your research, not the other way around

TIAGo is continuously adapting to your research needs!

TIAGo mobile manipulator combines perception, navigation, manipulation & Human-Robot Interaction skills out of the box! Get the versatile mobile manipulation platform for your research project, or for competing in robotics competitions with your team. The robot is suitable for research in fields such as Ambient-Assisted Living, Healthcare or Light industry. TIAGo is easily configurable and upgradeable to adapt to any research needs.

One robot endless possibilities

Choose TIAGo’s end effectors, drive, computing capabilities and more. Customizable TIAGo mobile manipulator is available with a differential or omnidirectional drive in the mobile base, a lifting torso with adjustable screen, single or dual arms, and interchangeable end effectors. With numerous sensors and integrated programming, TIAGo is ready to safely interact with its environment and take on tasks that require perception, mobility and manipulation skills.

One robot endless possibilities

Choose TIAGo’s end effectors, drive, computing capabilities and more. Customizable TIAGo mobile manipulator is available with a differential or omnidirectional drive in the mobile base, a lifting torso with adjustable screen, single or dual arms, and interchangeable end effectors. With numerous sensors and integrated programming, TIAGo is ready to safely interact with its environment and take on tasks that require perception, mobility and manipulation skills.

Start programming TIAGo with its ROS Tutorials!

TIAGo mobile manipulator has ROS tutorials available to get started with its open source simulation, which you can download online. You are also able to download a Docker image in order to get started right away. Join the community that is pushing forward robotics with TIAGo, either through research projects, robotics competitions or from your own laptop!

TIAGo ROS Tutorials

Areas of use

USED FOR RESEARCH IN:

  • Artificial Intelligence/Machine Learning
  • Human-Robot Interaction
  • Manipulation
  • Perception
  • Navigation
  • Motion planning

FIELDS OF APPLICATION:

Factory of the Future

Smart Cities and IoT

Ambient Assisted Living

Benchmarking

TIAGo IS USED IN…

Videos TIAGo in action

Check out the full TIAGo YouTube Playlist!

The first edition of the Mobile Manipulation Hackathon was celebrated at IROS 2018. Here’s a summary of the demonstrations that the six participant teams could achieve with a TIAGo robot in 24h. Find more about the MMH at: http://iros18-mmh.pal-robotics.com/

PAL Robotics is excited to announce a new TIAGo with two arms, TIAGo++! After carefully listening to the robotics community needs, we used TIAGo’s modularity to integrate two 7-DoF arms to our mobile manipulator. TIAGo++ can help you swiftly accomplish your research goals, opening endless possibilities in mobile manipulation.

Our partnership with Heemskerk Innovative Technology (HIT) resulted in the successful control of TIAGo with a haptic device that lets the controller feel the forces in the robot’s environment. http://blog.pal-robotics.com/blog/rob…

PAL Robotics’ Whole Body Control is a ROS-based software system customized by our team to develop high-level applications by abstracting the complexity of a robot, especially when it has a large number of DoF. This is the case with humanoids TALOS, REEM-C or TIAGo.

PAL Robotics’ gravity compensation mode enables the development of multiple applications for robots that can match different needs, are safe and flexible. This video shows different examples of TIAGo demonstrations that use the gravity compensation mode.

TIAGo has a wide range of mobility thanks to its 12 Degrees of Freedom (without end-effector). Its 7 Dof arm and lifting torso enables TIAGo to reach objects from the floor up to 1.70m height.

Learning by demonstration software application for which TIAGo can pre-record movements and repeat them as many times as requested. The software is useful for collaborative tasks with people in fields like Industry 4.0.

Create your own TIAGo robot

Contact PAL Robotics if you’d like our team of experts to assess you and figure out which would be
the best TIAGo configuration for your requirements.

7-DoF Arm(s) none ...
End effector none ...
End effectors none ...
F/T Sensor on wrist none ...
F/T Sensor on wrist none ...
F/T Sensor on wrist none ...
F/T Sensor on wrist none ...
F/T Sensors on wrist none ...
F/T Sensors on wrist none ...
F/T Sensors on wrist none ...
F/T Sensors on wrist none ...
Any optional(s)? none ...
CPU none ...
RAM none ...
SSD none ...
Navigation laser none ...
Drive none ...

Technical specifications

Contact PAL Robotics and get in touch with a team of experts
who can assess you and provide you more information of TIAGo.

SPECS

Height110-145 cm
Footprintø 54 cm
Arm Payload3 Kg (without end-effector)
Battery autonomy4-5h (1 battery)/8-10h (2 batteries)
Mounting pointsOn head, laptop tray and mobile base
OSUbuntu LTS, Real Time OS

OPEN SOURCE

TIAGo simulation model and tutorials available at: wiki.ros.org/Robots/TIAGo

PREMIUM SOFTWARE

Speed your research with extra software: from Whole-Body Control
to navigation, HRI skills or teleoperation.

Citations

Frequently Asked Questions

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!

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.
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.
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.

Yes. They use the same mounting connector and the same interface.The process for interchanging the end effectors in TIAGo is very easy and fast.

TIAGo comes with one language and one voice that can be selected from this list. Additional languages or voices can be added under customer demand.
The robot has 1 year warranty on hardware. An additional 12 months of warranty extension is offered as an option.

Contact PAL Robotics team if you have any further questions!

TIAGo robot development was partially funded by Eurostars and CDTI.

Subscribe to Newsletter

Register for PAL Robotics’s newsletter and stay up to date with product news, relevant events and exhibitions, and other relevant information about PAL Robotics.