http://www.tu-ilmenau.de

Logo TU Ilmenau

Contact Person

Univ.-Prof. Dr.-Ing. Horst-Michael Groß

Head of department

Phone +49 3677 692858

Send email

INHALTE

MILVA

Overview

Construction: 1994

Location: NICR Robot Lab (Zusebau 3053)

Contact: Dr.-Ing. Klaus Debes

Features

Hardware Platform:mecos GmbH, Switzerland
Size:
  • footprint 1,05 * 0,70m
  • height 0,6m
  • weight 120kg
Drive:
  • tricycle drive
  • driven and steered front wheel
Sensors:
  • omnidirectional camera RDFW-VL500 at height 0,90m
  • laser range finder SICK PLS 200 frontal at height 0,52m
  • laser range finder backward Hokuyo URG-04LX at height 0,63m
  • 4 backward sonar sensors at height 0,24m
  • bumper ring at bottom
  • odometer in both rear wheels
  • GPS-module
Onboard-PC:
  • Mini ITX Mainboard “Thunderbird/MM”, Fa. Lippert Automation
  • processor Pentium M Centrino 2 GHz
  • 1 GB RAM 333 (PC2700)
  • Linux openSUSE 11.2
  • HDD 2,5” Hitachi HTS 548040M94T00 40 GB
Power Supply:
  • 24V (2 x 12V) 65 Ah Panasonic lead-acid batteries (LC-X1265P)
  • 6h operating time
Other:
  • WLAN-module
  • 15” display Optrex with touch screen add-on “eTurboTouch 15” (capacitive)
  • joystick

Pictures

click on a picture to enlarge

MILVA 1 (2011)
MILVA 2 (2011)
MILVA 3 (2011)

Videos

MILVA hunting through a labyrinth avoiding any contacts
MILVA hunting through the same labyrinth while tracking a target
Outdoortest of MILVA-Robot in 2006