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PR1

Details

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.

Creator
Stanford Personal Robotics Program
Country
United States πŸ‡ΊπŸ‡Έ
Year
2008
Type
Research, Humanoids
Creator
Stanford Personal Robotics Program
Country
United States πŸ‡ΊπŸ‡Έ
Year
2008
Type
Research, Humanoids

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Specs

FEATURES
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.
HEIGHT
120 cm | 47.2 in
LENGTH
60 cm | 23.6 in
WIDTH
64 cm | 25 in
WEIGHT
98 kg | 216 lb
SPEED
7.2 km/h | 4.5 mph

SENSORS
Force control at every joint. Videre stereo camera system in head.
ACTUATORS
25 motors
POWER
2 kW power system with a 4- to 8-hour runtime depending mostly on computer use
COMPUTING
Two Pentium M small form-factor computers
SOFTWARE
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)
MATERIALS
Plywood and aluminum
COST
$50,000
STATUS
Inactive
HISTORY
PR1 was developed by Keenan Wyrobek and Eric Berger as part of the Personal Robots Program at Stanford University.
WEBSITE
http://personalrobotics.stanford.edu/