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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#
TIAGo’s head includes a stereo microphone (Andrea SuperBeam). See Microphone hardware specifications for the detailed specifications.
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 |