The PR1 (Personal Robot One), along with ROS (Robot Operating System), were designed to be a powerful and versatile robotics development platform for mobile manipulation research and application development.
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Did You Know?
While testing PR1, the Stanford AI Robotics group broke the robot more than once every day for a week. That is why so much reliability engineering and testing went into PR2.
The original goal was to build 10 copies of the PR1 at Stanford and share them with robotics software labs around the world to seed the ROS community.
The gravity counterbalance mechanism of each arm could be controlled by a single motor enabling the arm to passively "float" 10 pounds without using any joint motors.
Aside from some aluminum in each joint the entire superstructure of PR1's arm links, shoulder, body, base, and head are laser-cut plywood parts.
The PR1 grippers were hacked prosthetic hands.
- Backdrivable, passive spring counterbalanced 7-degrees-of-freedom arms. The arms, grippers, head, telescoping spine, and mobile base controlled together at 1 kHz for fluid whole-body motion. Multiple onboard computers, battery system, and sensor head.
- 120 cm | 47.2 in
- 60 cm | 23.6 in
- 64 cm | 25 in
- 98 kg | 216 lb
- 7.2 km/h | 4.5 mph
- Force control at every joint. Videre stereo camera system in head.
- 25 motors
- 2 kW power system with a 4- to 8-hour runtime depending mostly on computer use
- Two Pentium M small form-factor computers
- ROS < 1.0
- DEGREES OF FREEDOM (DOF)
- 23 (Arm: 4 DoF x2; Counterbalance Adjustment: 1 DoF x 2; Wrist: 3 DoF x 2; Gripper: 1 DoF x 2; Head: 1 DoF; Torso: 2 DoF; Wheels: 2 DoF)
- Plywood and aluminum
PR1 was developed by Keenan Wyrobek and Eric Berger as part of the Personal Robots Program at Stanford University.