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TIAGo’s head#
TIAGo’s head is equipped with a pan-tilt mechanism, i.e. 2 DoF, and is equipped with stereo microphones, a speaker and an RGB-D camera. Furthermore, on top of the head there is a flat surface with mounting points to allow the user to add new sensors or equipment. Note that the head has a payload of 0.5 kg when adding new equipment. The figure below shows the location of each component and the two joints of the pan-tilt mechanism.
Figure: Head parts and components#
Pan-tilt mechanism#
Head pan-tilt main specifications:
Description |
Reduction |
Max speed [rpm] |
Max troque [Nm] |
Absolute encoder |
|---|---|---|---|---|
Pan motor |
200:1 |
63 |
6 |
12 bits |
Tilt motor |
200:1 |
63 |
6 |
12 bits |
Speaker#
The speaker specified in the table is provided below the robot’s head.
Manufacturer |
VISATON |
Model |
FRS 5 |
Rated power |
5 W |
Max power |
8 W |
Nominal impedance Z |
8 Ohm |
Frequency response |
150-20000 Hz |
Stereo microphones#
The Andrea SuperBeam Stereo Array Microphone is integrated just below the head of the robot. The specifications of the audio card are presented in the first table and the specifications of the Stereo Array Microphone are detailed in the second table:
Manufacturer |
Andrea Electronics |
Model |
SuperBeam Stereo Array Microphone |
Mic supply voltage |
1.4-5.0 VDC |
Supply bias resistor |
2.2k-39.9k Ohm |
Operating current (each channel) |
0.5 mA |
Output impedance at 1 kHz |
200 Ohm |
Max input sound level at 1 kHz, 3% THD |
115 dB |
Output signal level at THD < 3% @ 1 kHz |
24-120 mVrms |
Sensitivity at 1 kHz (0 dB = 1 V/Pa Vdc=1.6 V) |
-40 to -37 dBV |
Frequency response at 3 dB variation noise |
20 uVrms |
Operating temperature |
0-70C◦C |
Recommended operating distance |
30.5-122 cm |
Acoustic signal reduction at 1 kHz outside of 30◦beamform |
15-30 dB |
Noise reduction |
20-25 dB |
Manufacturer |
Andrea Electronics |
Model |
PureAudio USB-SA |
Supply voltage |
4.5 - 5.5 VDC |
Total power consumption |
120 mA |
A/D conversion resolution |
16 bit |
THD + N |
-84 dB |
Supply bias resistor |
2.2 kOhm @ 3.3 VDC |
Frequency response |
20-20000 Hz |
Input range |
0 - 1.25 Vrms |
Dynamic range |
95 dB |
Record gain range |
-6 to 33 dB |
RGB-D camera#
TIAGo’s head includes an RGB-D camera, specified below:
Manufacturer |
Orbbec |
Model |
Astra S |
Field of view |
60◦H, 49.5◦V, 73◦D |
Interface |
USB 2.0 |
Color stream modes |
QVGA 320x240 @ 30 fps, VGA 640x480 @ 30 fps, 1280x960 @ 10 fps |
Depth stream modes |
QVGA 320x240 @ 30 fps, VGA 640x480 @ 30 fps, 160x120 @ 30 fps |
Depth sensor range |
0.4 - 2 m |