TIAGo hardware overview#

TIAGo specifications overview#

Mobile base#
Drive system	Differential
Max speed	1 m/s

Torso#
Lift stroke	35 cm

Electrical features#
Battery	36 V, 20 Ah

Sensors#
Base	Laser range-finder, Sonars, IMU
Torso	Stereo microphones
Head	RGB-D camera

Touch monitor

TIAGo may be equipped with a touch monitor as shown in figure below:

The main technical specifications are shown in table:

Touch monitor#
Panel type	13.3” TFT IPS LCD (16:9 wide) LED Backlight
Touch type	Projective capacitive touch monitor, support 10-finger multi-point touch
Resolution/Color depth	1920x1080/16.7 M colors
Active area	294x165 mm
Contrast ratio	700:1
Response time	14 ms

Mobile base#
Drive system	Differential
Max speed	1 m/s

Torso#
Lift stroke	35 cm

Arm#
Payload	2 Kg
Reach	87 cm

Electrical features#
Battery	36 V, 20 Ah

Sensors#
Base	Laser range-finder, Sonars, IMU
Torso	Stereo microphones
Arm	Motors current feedback
Wrist	Force/Torque
Head	RGB-D camera

The figure below presents the kinematic specifications of TIAGo’s upper body including the motion range of each joint.

Mobile base#
Drive system	Differential
Max speed	1 m/s

Torso#
Lift stroke	35 cm

Arm#
Payload	2 Kg
Reach	87 cm

Electrical features#
Battery	36 V, 20 Ah

Sensors#
Base	Laser range-finder, Sonars, IMU
Torso	Stereo microphones
Arm	Motors current feedback
Wrist	Force/Torque
Head	RGB-D camera

Mobile base#
Drive system	Omnidirectional
Max speed	1 m/s

Torso#
Lift stroke	35 cm

Arm#
Payload	2 Kg
Reach	87 cm

Electrical features#
Battery	2 x 36 V, 20 Ah

Sensors#
Base	2 x Laser range-finder, Sonars, IMU
Torso	Stereo microphones
Arm	Motors current feedback
Wrist	Force/Torque
Head	RGB-D camera

Depending on your TIAGo model, the mobile base can be either a differential drive system or an omnidirectional drive system:

A detailed description of each hardware component of TIAGo is provided in the following sections: