Mobile Manipulator - Tolon

Tolon is an easy-to-use mobile manipulator that supports the development of next-generation robot applications. It is ideal for the development of autonomous robots that automate material handling tasks in logistics, short-distance transport in factories, security, patrolling, etc.

Features

Easy to use in many situations

  • Footprint close to the size of an electric wheelchair and asymmetrical arm configuration allows it to work in narrow spaces
  • Reaching range is from 0.1 m to 2.1 m above the floor
  • 6 kg payload (at the worst posture) that enables many tasks
  • Sensor-less joint impedance control (precise force control is possible if an optional force sensor is used at the tip of the arm)

Sufficient joint configuration for a wide variety of tasks

The joint configuration of 7-axis arm (P, R, P, R, P, R), 2-axis waist (P, Y), 2-axis neck (Y, P), and 4-axis omni-directional mobile base enables the robot to do tasks with a range of motion similar to humans in working spaces of people.

ROS support

Because it is ROS-compatible, the robot in Gazebo (a simulator for ROS) and the actual robot can be operated using the same program. This makes it possible to safely verify the robot's behavior. In addition, trajectory planning and self-interference detection using MoveIt! are implemented as standard.

Movies

Basic Motion of Tolon

This is a demo of Tolon's whole body movement.

Specifications

Sensors (head)
  • Depth camera x 1 (head)
Height 1830 mm
Weight approx. 145 kg
Payload Worst posture: 6 kg
External terminals (back of the robot)
  • Digital input x 8
  • Digital output x 8
  • Analog input: x 8
  • Analog output x 8
  • Power supply for external equipment: 5V-DC/2A, 12V-DC/1A, 24V-DC/1A
  • Ethernet x 1
  • USB 3.0 x 2
  • HDMI output x 2
  • Charger connection terminal
Tool flange (tip of the arm)
  • 24V DC power supply terminal x 1
  • General-purpose signal wire x 8
Onboard computer
  • PC for robot control
  • PC for image acquisition, etc.
Power source Built-in battery (continuous operation while charging is also possible)
Battery continuous operation time Up to approx. 3 ~ 4 hours

Dimensions

 

Postures

 

Software

The basic functions required to develop mobile manipulator applications are implemented, such as joint impedance control based on torque detection, fall prevention by monitoring ZMP, a state machine for connecting multiple movements, and safety stop based on interference detection. Tolon's software is ROS compatible. Therefore, in addition to the easy use of the above functions, state visualization with RViz, trajectory planning using a ROS standard software MoveIt!, and logging and saving of the robot's sensor information (camera images, joint angles, joint torques, etc.) are available.

Basic Package and Optional Extras

Basic Package

  • Mobile manipulator - Tolon *without LiDAR
  • Battery charger
  • ROS package for Tolon
  • User's manual
  • Six months email support

 

Force-torque Sensors

This option enables advanced force control at the tip of the arm. A low-profile 6-axis force-torque sensor and an impedance control program are provided.

 

Hands

Three-finger Hand

  • Three finger configuration: thumb + 2 fingers
  • One axis for each finger (3 motors in total)
  • Outputting about 10N force at fingertips
  • Rubber material attached to fingertips and palm

 

Four-finger Hand

  • Four-finger configuration: thumb + 3 fingers
  • Three axes for thumb and 1 axis for each of the others (6 motors in total)
  • Outputting about 10N force at fingertips
  • Rubber material and FSR pressure sensor attached to fingertips and palm

 

Leader-follower Control System

  • LiDAR 10 m
  • LiDAR 30 m
  • GPU board for embedded PC