PR2 Willow Garage

OVERVIEW

Personal Robotics, Mobile Manipulation

Personal robot applications enable people to make themselves more productive at
home and at work.
PR2 combines the mobility to navigate human environments and the dexterity to
grasp and manipulate objects in those environments.
Community
PR2 allows you to concentrate on your specific field, while taking advantage of the
work of specialists in other areas.
The PR2 hardware platform and 1000+ software libraries enable you, as a member
of the community, to focus on new capabilities.
The common platform also lets you easily share your research results in a way that
is reproducible.
Freedom to Innovate
The PR2 is an open platform. You can change the system to meet your needs at any
level.
PR2 is designed to be durable so that you can experiment with new ideas and
applications directly on the robot.

DESIGN
Hardware and Software Platform for Mobile Manipulation R&D

Manipulation
Backdriveable Arms
PR2's arms are backdriveable
and current controlled so PR2
can manipulate in unstructured
environments.
Spring Counterbalance
PR2's arms have a passive
spring counterbalance system
so the arms float even when the
power is off.
Wrist
PR2's wrist has two continuous
degrees of freedom and lots of
torque so PR2 can manipulate
everyday objects from doors to
frying pans.
Gripper
PR2's gripper can grasp
everything from towels to tea
cups, and brooms to brews

Mobility

With a telescoping spine and an omnidirectional base that completed a marathon,

PR2 can work where you need it.

Sensors Everywhere
PR2's sensor suite and sensor processing and calibration libraries let you fuse
information from several sensors easily.

PR2's Two
On board Servers
You dont want computing power to be the first limit you hit on a robot. PR2s two on
board servers let you take advantage of its manipulation, mobility and sensing
capabilities.

Modular
Open interfaces let you use different
grippers, forearms, whole arms or
sensors.

EtherCAT
A single EtherCAT bus gives you real
time, deterministic control of all your
motors at 1 kHz while also providing
accurate triggering of all your cameras.
Power to Go
The 1.3 kWh battery system can run
the servers and robot at full tilt for
2 hours. On board chargers let PR2
run while plugged in and charging.

Hardware Specifications

Ethernet + WiFi
With a 32 gigabit backplane and
multigigabit connection to each
server, the gigabit Ethernet network
handles all the camera data and the
dual radio WiFi with ease.

Forearm :: 321 mm

Wrist to Gripper Surface :: 120

to 200 mm

Arm Force Output

4 DOF Passive Counterbalance

Arm Payload :: 1.8 Kg (4 lbs)

Wrist Torque :: 4 Nm (3 ft lbf)

Grip Force :: 80 N (18 lbf)

Arm Range of Motion

Shoulder Pan :: 170

Shoulder Tilt :: 115

Upper Arm Roll :: 270

Elbow Flex :: 140

1. A Arm :: 4

Forearm Roll :: Continuous

2. B Wrist :: 3

Wrist Pitch :: 130

3. C Gripper :: 1

Wrist Roll :: Continuous

Gripper :: 90 mm max

Arms (SE model: right arm only)

Arm DOFs

Arm Link Lengths

Upper Arm :: 400 mm

Head, Spine & Base

1. A Pan Tilt Head

Pan :: 350

Tilt :: 115

Computing
1. D 2x Onboard Servers

Processors :: Two QuadCore i7 Xeon Processors

(8 cores)

Memory :: 24 GB

Externally Removable
Hard Drive :: 1.5 TB

Internal Hard Drive :: 500

GB

2. B Telescoping Spine
Height Range from Floor to Top of
Head:

Short :: 1330 mm (4 ft
4.4 in)

Tall :: 1645 mm (5 ft 4.7

in)

3. C Omni Directional Base

Casters :: 4 Steered and

Driven
Base Width & Depth ::
668 mm

Speed :: 1 m/s

In the Box

Base-Station Computer

Joystick

Power Cable

Self Plug-in Cable

Small Calibration Target

Sensors

Large Calibration Target

2. B Above the Shoulders

1. A Head

Microsoft Kinect

5-Megapixel Global
Shutter Color Gigabit
Ethernet Camera (1Megapixel on SE)

Environment Stereo
Camera: Wide-Angle
Global Shutter Color
Stereo Ethernet Camera
(NOT on SE)
Manipulation Stereo
Camera: Narrow-Angle
Global Shutter
Monochrome Stereo
Ethernet (NOT on SE)
LED Texture Projector
Triggered with NarrowAngle Stereo
Camera (NOT on SE)

Tilting Hokuyo UTM30LX Laser Scanner

Microstrain 3DM-GX2
IMU

1. CForearm

Global Shutter Ethernet

Camera

2. DGripper

Three-Axis
Accelerometer

Fingertip Pressure
Sensor Arrays (NOT on
SE)

Calibration LED

3. E Base

Hokuyo UTM-30LX Laser

Scanner

Networks
1. Gigabit Ethernet

32 Gigabit Backplane Switch

Multi Gigabit Connection to Each Server

All Cameras on Gigabit Network

2. EtherCAT Network

1kHz Control to All Motors

Exposure Triggering of Forearm Cameras, Environment Stereo,

Manipulation Stereo, and Texture Projector to Better than 1 ms

1. Wireless

Dual-Radio WiFi

Dedicated Service Access Point

Bluetooth Access Point

Power System
1. Batteries

1.3 kWh Lion Battery Pack

2 hrs Approximate Runtime

2. Onboard Power Supplies

Power Supplies Can Charge and Run the Robot at the Same Time

3. Power Board

Full Software Control and Diagnostics Over Ethernet

High Speed Circuit Breakers

1. Run-Stops

Run-stops instantly disable all the motor drivers while still leaving all
the sensors, servers and motor board diagnostics running.

Built in run-stop button on the back of the robot.

Wireless run-stop can be worn on a belt or put next to a keyboard.

Sensor Modularity And Extensibility

1. A Modularity
Bolt Pattern on Pan Tilt
Platform
Ethernet
2. Ships with
Wide FOV Color Stereo
Camera
Narrow FOV Mono
Stereo Camera
LED Texture Projector
5MP Global Shutter
Camera
3.
4. B Modularity
Bolt Pattern on Sides of
Head
USB/Ethernet
5.
6.
7. C Modularity*
Tilting Stage
8. Ships with

Planar Laser Scanner

9.
10.
11. D Modularity*
Removable Fingertips
12. Ships with
Pressure Sensor Arrays
13.
14.
15. E Modularity*
Forearm Camera Bays
16. Ships with
Ethernet Cameras
17.
18.
19.
F Modularity*
Bolt Pattern on Base
USB/Ethernet
20. Ships with
Planar Laser Scanner
21.
22.
23.
G Modularity*

24.
Computer Bay
Firewire/USB/Ethernet

25. Ships with

2x Xeon Boxes

26.
1.

A Modularity
Removeable Full Arm
2. Leave Behind
Telescoping Spine
Base
Head
Other Arm
3. Electrical Interface
EtherCAT
Battery
Ethernet
Regulated 12v
4.
5.
6. B Modularity
Removeable Gripper
7. Leave Behind
Full 7 DOF Arm
8. Electrical Interface
EtherCAT
Battery
9.
10.
23.

11.
12.
13. C Modularity
Removeable Full Forearm
14.
15. Leave Behind
5 DOF Arm
16.
17. Electrical Interface
EtherCAT
Battery
Ethernet
Regulated 12v
18.
19.
20. D Modularity
Bolt Pattern on Top of Base
21.
22. Electrical Interface
Ethernet
Power
USB
PCI Express Expansion Slo

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27. Possibilities for Robot Applications
28.

29.

Work Life

30. From services to manufacturing,

people spend a lot of time doing
repetitive tasks. You could make
someone an App for their tedious
tasks making them more productive
and their work more enjoyable.

31.
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33.

Personal Life

34. From doing dishes to doing laundry,

Apps could do a lot of things we
would rather leave to a robot.

35.
36.

37.

Independence

38.

For someone who would

otherwise need to live in an assisted

facility, you could make an App to let
them live independently.

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