The PyRobot version of the LoCoBot has been discontinued, please see the links below for the current versions of the LoCoBot platform.

SPECIFICATIONS WX250

Manipulator
Payload (Create 3)
Operating Time
Product Weight
Height
Width
Length

6 DOF
2kg
90 Mins
TBD
63cm
35cm
35cm

SPECIFICATIONS WX200

Manipulator
Payload (Create 3)
Operating Time
Product Weight
Height
Width
Length

5 DOF
2kg
90 Mins
TBD
63cm
35cm
35cm

SPECIFICATIONS PX100

Manipulator
Payload (Create 3)
Operating Time
Product Weight
Height
Width
Length

4 DOF
TBD
90 Mins
TBD
63cm
35cm
35cm

SPECIFICATIONS BASE

Manipulator
Payload (Create 3)
Operating Time
Product Weight
Height
Width
Length

N/A
2kg
90 Mins
6.98kg
63cm
35cm
35cm

This product has been discontinued, the new version can be found here.

The LoCoBot is a mobile manipulator from Carnegie Mellon University and designed to run Facebook AI's PyRobot. PyRobot is an open source, lightweight, high-level interface on top of the robot operating system (ROS). It provides a consistent set of hardware-independent mid-level APIs to control different robots. PyRobot abstracts away details about low-level controllers and interprocess communication so users can focus on building high-level AI robotics applications.

The LoCoBot is built on the Yujin Robot Kobuki Base (YMR-K01-W1) and powered by the Intel NUC NUC8i3BEH core i3 Mini PC. The platform also comes with the WidowX 200 Mobile Manipulator and an Intel® RealSense™ Depth Camera D435. LoCoBot comes partially assembled and is designed for users to be up and running as soon as possible.

Navigation

Manipulation

Sensors:

Intel RealSense 3D Camera D435
Edge Detection & Bumper Sensors
Kobuki Mobile Base
WidowX 200 Mobile Arm
Maximum translational velocity: 70 cm/s 13
Maximum rotational velocity: 180 deg/s (>110 deg/s gyro performance will degrade)
Payload: 2kg
Cliff: will not drive off a cliff with a depth greater than 5cm
Threshold Climbing: climbs thresholds of 12 mm or lower
Rug Climbing: climbs rugs of 12 mm or lower
Expected Operating Time: 4-6 hours (operating time varies depending on loadout)
Expected Charging Time: 2-3 hours (charge time varies depending on loadout)

CPU:

INTEL NUC - NUC8i3BEH
8th Generation Intel Core i3 8109U processor
8GB Ram
250GB SSD
Intel Iris Plus Graphics
802.11AC WiFi / Bluetooth 4.0

LoCoBot was used in CS16-662 Robot Autonomy at CMU by Professor Oliver Kroemer. Here are some of the projects from the class:

Software

Hardware

HardwareImage5

WidowX Robot Arm - The WidowX 200 is a 5 degree of freedom manipulator with a maximum reach of 550mm and a working payload of 200g. The WidowX 200 is built using the DYNAMIXEL X Series servos from Robotis which feature high resolution (4096 positions), user definable PID parameters, temperature and positional feedback and much more.