ActivMedia Robotics MOBILEROBOTS Team AmigoBot-SH User manual

Team AmigoBot™
Operations Manual
with
NEW Renesas SH2-based Controller,
NEW AmigoSH Robot Control Software
&
NEW
A
RIA Robotics Develo
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Copyright © 2005, ActivMedia Robotics, LLC. All rights reserved.
Under international copyright laws, none of this manual or any portion of it may be
copied or in any way replicated without the expressed written consent of ActivMedia
Robotics, LLC.
The software on disk, CD-ROM, and/or in the controller’s FLASH, which accompany the
robot and are available for network download by MOBILEROBOTS customers, are solely
owned and copyrighted or licensed by ActivMedia Robotics, LLC.
Developers and users are authorized by revocable license to develop and operate
custom software for personal research and educational use only. Duplication,
distribution, reverse-engineering, or commercial application of MOBILEROBOTS software
and hardware without the expressed written consent of ActivMedia Robotics, LLC, is
explicitly forbidden.
The various names and logos for products used in this manual are often registered
trademarks or trademarks of their respective companies. Mention of any third-party
hardware or software constitutes neither an endorsement nor a recommendation.
Team AmigoBot-SH Operations Manual, version 2, September 2005
ii

MOBILEROBOTS
Important Safety Instructions
 Read the installation and operations instructions before using the equipment.
 Avoid using power extension cords.
 To prevent fire or shock hazard, do not expose the equipment to rain or moisture.
 Refrain from opening the unit or any of its accessories.
 Keep wheels away from long hair or fur.
 Never access the interior of the robot with charger attached or batteries inserted.
Inappropriate Operation
Inappropriate operation voids your warranty! Inappropriate operation includes, but is
not limited to:
 Dropping the robot, running it off a ledge, or otherwise operating it in an
irresponsible manner
 Overloading the robot above its payload capacity
 Getting the robot wet
 Continuing to run the robot after hair, yarn, string, or any other items have become
wound around the robot’s axles or wheels
 Opening the robot with charger attached and/or batteries inserted
 All other forms of inappropriate operation or care
Use MOBILEROBOTS authorized parts ONLY;
warranty void otherwise.
iii

Table of Contents
CHAPTER 1 INTRODUCTION................................................................................................................. 1
ROBOT PACKAGES....................................................................................................................................... 1
Basic Components (all shipments).......................................................................................................... 1
Optional Components and Attachments (partial list) ............................................................................. 1
User-Supplied Components / System Requirements ............................................................................... 1
ADDITIONAL RESOURCES ............................................................................................................................ 2
Support Website...................................................................................................................................... 2
Newsgroups ............................................................................................................................................ 2
Support ................................................................................................................................................... 2
CHAPTER 2 WHAT IS AMIGOBOT?...................................................................................................... 4
PIONEER REFERENCE PLATFORM ................................................................................................................ 4
PIONEER FAMILY OF ROBOT CONTROLLERS AND OPERATIONS SOFTWARE................................................. 4
PORTS AND POWER...................................................................................................................................... 5
CLIENT SOFTWARE...................................................................................................................................... 5
ARIA and ArNetworking ......................................................................................................................... 5
Mapping, Localization, and Navigation ................................................................................................. 6
MODES OF OPERATION ................................................................................................................................7
Server Mode............................................................................................................................................ 7
Maintenance and Standalone Modes...................................................................................................... 7
THE PIONEER LEGACY................................................................................................................................. 7
Pioneer AT.............................................................................................................................................. 8
Pioneer 2™ and PeopleBot™ ................................................................................................................ 8
AmigoBot ................................................................................................................................................ 9
Pioneer 3™ and Recent Pioneer 2-DX8™, -AT8™, and Plus™ Mobile Robots................................... 9
Pioneer 3™ SH Robots........................................................................................................................... 9
CHAPTER 3 SPECIFICATIONS & CONTROLS ................................................................................. 10
PHYSICAL CHARACTERISTICS AND COMPONENTS ..................................................................................... 10
POWER AND CHARGING............................................................................................................................. 11
USER INDICATORS AND CONTROLS ........................................................................................................... 11
Serial Communications & Expansion I/O............................................................................................. 12
SONAR....................................................................................................................................................... 13
Sonar Rate and Sequence ..................................................................................................................... 13
Sonar Sensitivity ................................................................................................................................... 13
MOTORS, WHEELS, AND POSITION ENCODERS .......................................................................................... 13
SAFETY AMIGOSH WATCHDOGS .............................................................................................................. 14
CHAPTER 4 QUICK START AND SELF-TEST................................................................................... 15
PREPARATIVE ASSEMBLY.......................................................................................................................... 15
SELF TEST ................................................................................................................................................. 15
CLIENT DEMONSTRATIONS........................................................................................................................ 15
CLIENT-SERVER COMMUNICATIONS ......................................................................................................... 16
TETHERED WITH ARIA DEMO ................................................................................................................... 16
Demo Startup Options .......................................................................................................................... 16
A Successful Connection....................................................................................................................... 17
Operating the ARIA Demo.................................................................................................................... 17
Disconnecting ....................................................................................................................................... 18
NETWORKING WITH MOBILEEYES............................................................................................................. 18
Start serverDemo.................................................................................................................................. 18
Start MobileEyes and Connect with serverDemo/AmigoBot ................................................................ 19
QUICKSTART TROUBLESHOOTING ............................................................................................................. 19
CHAPTER 5 AMIGOSH........................................................................................................................... 21
CLIENT-SERVER COMMUNICATION PACKET PROTOCOLS .......................................................................... 21
Packet Checksum.................................................................................................................................. 22
iv

MOBILEROBOTS
Packet Errors ........................................................................................................................................22
THE CLIENT-SERVER CONNECTION............................................................................................................23
Autoconfiguration (SYNC2)...................................................................................................................23
Opening the Servers—OPEN ................................................................................................................23
Keeping the Beat—PULSE....................................................................................................................24
Closing the Connection—CLOSE..........................................................................................................24
SERVER INFORMATION PACKETS ...............................................................................................................24
CLIENT COMMANDS ...................................................................................................................................24
MOTION COMMANDS .................................................................................................................................27
AmigoBot in Motion ..............................................................................................................................28
PID Controls .........................................................................................................................................29
Position Integration...............................................................................................................................29
DriftFactor, RevCount, and TicksMM...................................................................................................30
SONAR .......................................................................................................................................................30
Enable/Disable Sonar............................................................................................................................31
Polling Sequence ...................................................................................................................................31
Polling Rate...........................................................................................................................................31
QUICK STOP ...............................................................................................................................................31
ACCESSORY COMMANDS AND PACKETS ....................................................................................................31
Packet Processing .................................................................................................................................32
CONFIGpac and CONFIG Command ..................................................................................................32
SERIAL .......................................................................................................................................................33
HOST-to-AUX Serial Transfers.............................................................................................................33
ENCODERS .................................................................................................................................................34
BUZZER SOUNDS........................................................................................................................................34
TCM2 ........................................................................................................................................................34
HEADING CORRECTION GYRO....................................................................................................................34
CHAPTER 6 UPDATING & RECONFIGURING AMIGOSH..............................................................36
WHERE TO GET AMIGOSH SOFTWARE ......................................................................................................36
AMIGOSH MAINTENANCE MODE ..............................................................................................................36
Enabling Maintenance Mode on the Controller....................................................................................36
AMIGOSHCF ..............................................................................................................................................37
STARTING AMIGOSHCF .............................................................................................................................37
CONFIGURING AMIGOSH PARAMETERS.....................................................................................................38
Interactive Commands...........................................................................................................................38
Changing Parameters............................................................................................................................38
SAVE YOUR WORK ....................................................................................................................................39
PID PARAMETERS ......................................................................................................................................40
DRIFTFACTOR, TICKSMM, AND REVCOUNT...............................................................................................40
STALLVAL AND STALLCOUNT ...................................................................................................................41
CHAPTER 7 CALIBRATION & MAINTENANCE ...............................................................................42
CALIBRATING YOUR ROBOT ......................................................................................................................42
DRIVE LUBRICATION..................................................................................................................................42
AMIGOBOT BATTERIES ..............................................................................................................................43
Charging the Battery .............................................................................................................................43
Alternative Battery Chargers ................................................................................................................43
GETTING INSIDE .........................................................................................................................................44
FACTORY REPAIRS .....................................................................................................................................44
APPENDIX A ..............................................................................................................................................45
CONTROLLER PORTS & CONNECTIONS ......................................................................................................45
AMIGOSH CONTROLLER............................................................................................................................45
Battery and Motors Connector..............................................................................................................46
Serial Ports............................................................................................................................................46
Encoders................................................................................................................................................47
Sonar .....................................................................................................................................................47
v

Buttons and Indicators.......................................................................................................................... 47
Heading Correction Gyro..................................................................................................................... 47
Expansion I/O ....................................................................................................................................... 48
APPENDIX B.............................................................................................................................................. 49
ETHERNET-TO-SERIAL DEVICE SETTINGS ................................................................................................. 49
LAN IP SETTINGS ..................................................................................................................................... 49
Console mode: ...................................................................................................................................... 50
Webpage ............................................................................................................................................... 50
Peer-to-Peer Networking...................................................................................................................... 50
APPENDIX C.............................................................................................................................................. 51
SPECIFICATIONS ........................................................................................................................................ 51
WARRANTY & LIABILITIES ................................................................................................................ 53
vi

MOBILEROBOTS
Introduction
Figure 1. AmigoBots prefer to swarm
into teams.
Chapter 1
Congratulations on your purchase and
welcome to the rapidly growing community
of developers and enthusiasts of
MOBILEROBOTS intelligent mobile platforms.
This Team AmigoBot-SH Operations Manual
provides both the general and technical
details you need to operate your new
AmigoBot robots and to begin developing
your own robotics hardware and software.
For operation of previous versions of AmigoBot, which use the Hitachi H8S-based
controller and support software, please contact [e-mail] or access our
support website: http://robots.amigobot.com for related documentation.
ROBOT PACKAGES
Our experienced manufacturing staff put your mobile robot and accessories through a
“burn in” period and carefully tested them before shipping the products to you. In
addition to the companion resources listed above, we warrant your MOBILEROBOTS
platform and our manufactured accessories against mechanical, electronic, and labor
defects for one year. Third-party accessories are warranted by their manufacturers,
typically for 90 days.
Even though we’ve made every effort to make your AmigoBot package complete,
please check the components carefully after you unpack them from the shipping crate.
Basic Components (all shipments)
 One fully assembled Team AmigoBot robot with fully charged battery
 CD-ROM containing licensed copies of MOBILEROBOTS software and documentation
 Set of manuals
 Registration and Account Sheet
Optional Components and Attachments (partial list)
 Battery charger (some contain power receptacle and 220VAC adapters)
 Radio Ethernet
 Supplementary and replacement batteries
 Pan-Tilt-Zoom Surveillance Cameras
 Heading-correction gyro
 Compass
 Serial cables for external connections
 Many more…
User-Supplied Components / System Requirements
 Client PC: 586-class or later PC with Microsoft Windows© or Linux OS
 One RS-232 compatible serial port or Ethernet (requires Ethernet-to-serial accessory)
 Four megabytes of available hard-disk storage
1

Congratulations
ADDITIONAL RESOURCES
Every MOBILEROBOTS customer gets three additional and valuable resources:
 A private account on our support Internet website for downloading software,
updates, and manuals
 Access to private newsgroups
 Direct access to the MOBILEROBOTS technical support team
Support Website
We maintain a 24-hour, seven-day per week World Wide Web server where customers
may obtain software and support materials:
http://robots.activmedia.com
Some areas of the website are restricted to licensed customers. To gain access, enter
the username and password written on the Registration & Account Sheet that
accompanied your robot.
Newsgroups
We maintain several email-based newsgroups through which ActivMedia robot owners
share ideas, software, and questions about the robot. Visit the support
http://robots.activmedia.com website for more details. To sign up for amigobot-
users, for example, send an e-mail message to the –requests automated newsgroup
server:
To: [email protected]
From: <your return e-mail address goes here>
Subject: <choose one command:>
help (returns instructions)
lists (returns list of newsgroups)
subscribe
unsubscribe
Our SmartList-based listserver will respond automatically. After you subscribe, send your
email comments, suggestions, and questions intended for the worldwide community of
MOBILEROBOTS users:1
To: [email protected]
From: <your return e-mail address goes here>
Subject: <something of interest to AmigoBot users>
Access to the amigobot-users newslist is limited to subscribers, so your address is safe
from spam. However, the list currently is unmoderated, so please confine your
comments and inquiries to issues concerning the operation and programming of Team
AmigoBot.
Support
Have a problem? Can’t find the answer in this or any of the accompanying manuals? Or
do you know a way that we might improve our robots? Share your thoughts and
questions with us from the online form at the support website:
1Note: Leave out the –requests part of the email address when sending messages to the newsgroup.
2

MOBILEROBOTS
http://robots.activmedia.com/techsupport
or by email:
[email protected]
Please include your AmigoBot's serial number (look for it underneath the robot)we
often need to understand your robot's configuration to best answer your question.
Tell us your robot’s SERIAL NUMBER.
Your message goes directly to the MOBILEROBOTS technical support team. There a staff
member will help you or point you to a place where you can find help.
Because this is a support option, not a general-interest newsgroup like amigobot-users,
we reserve the option to reply only to questions about problems with your robot or
software.
See Chapter 7, Maintenance & Repair, for more details.
Use MOBILEROBOTS authorized parts ONLY;
warranty void otherwise.
3

What isAmigoBot?
What Is AmigoBot?
Figure 2. MOBILEROBOTS
Chapter 2
Team AmigoBot™ is the smallest member of the
Pioneer family of mobile robots, including the
Pioneer 1 and Pioneer AT, Pioneer 2™ -DX, -DXe, -
DXf, -CE, -AT, the Pioneer 2™-DX8/Dx8 Plus and -
AT8/AT8 Plus, and the newest Pioneer 3-DX and -AT
mobile robots. These small, research and
development platforms share a common
architecture and foundation software with all
other MOBILEROBOTS platforms, including
PeopleBot™ V1, Performance PeopleBot™,
PatrolBot™, and PowerBot™.
PIONEER REFERENCE PLATFORM
MOBILEROBOTS platforms set the standards for intelligent mobile robots by containing all of
the basic components for sensing and navigation in a real-world environment. They
have become reference platforms in a wide variety of research projects, including
several US Defense Advanced Research Projects Agency (DARPA) funded studies.
Every MOBILEROBOTS platform comes complete with a sturdy aluminum body, balanced
drive system (two-wheel differential with casters or four-wheel skid-steer), reversible DC
motors, motor-control and drive electronics, high-resolution motion encoders, and
battery power, all managed by an onboard controller and mobile-robot server software.
Besides the open-systems robot-control server software onboard the robot controller,
every MobileRobots platform also comes with a host of advanced robot-control client
software applications and applications-development environments. Software
development includes our own foundation Advanced Robotics Interface for
Applications (ARIA) and ArNetworking, released under the GNU Public License, and
complete with fully documented C++, Java, and Python libraries and source code.
Several third-party robotics applications development environments also have emerged
from the research community, including Saphira from SRI International, Ayllu from
Brandeis University, Pyro from Bryn Mawr and Swarthmore Colleges, Player/Stage from
the University of Southern California, and Carmen from Carnegie-Mellon University.
PIONEER FAMILY OF ROBOT CONTROLLERS AND OPERATIONS SOFTWARE
First introduced in 1995, the original Pioneer 1 mobile robot contained a controller based
on the Motorola 68HC11 microprocessor and powered by Pioneer Server Operating
System (PSOS) software. The next generation of Pioneer 2 and PeopleBot robots used a
Siemens C166-based controller with Pioneer 2 Operating System (P2OS) software.
AmigoBot introduced an Hitachi H8S-based controller with AmigOS in 2000. From 2002
until Fall of 2004, Pioneer 3, Performance PeopleBot, and PowerBot robots also had an
Hitachi H8S-based controller with ActivMedia Robotics Operating System (AROS)
software.
Now, all ActivMedia robots use revolutionary high-performance controllers with
advanced embedded robot control software based on the new-generation 32-bit
Renesas SH2-7144 RISC microprocessor, including the P3-SH controller with ARCOS, uARCS
Inside the PatrolBot and our industrial “blackbox”, and AmigoSH for AmigoBot.
But you might not even notice the differences. Because we have taken great care to
ensure backward compatibility across ActivMedia/MOBILEROBOTS entire history of robots,
client software written to operate an ancient PSOS-based Pioneer AT will work with a
4

MOBILEROBOTS
brand new Team AmigoBot with little or no modification. Client-server communication
over a serial communication link remain identical as do support for all robotics
commands.
See Chapter 5, AmigoSH, for details.
PORTS AND POWER
Your Team AmigoBot has a variety of expansion power and I/O ports for attachment and
close integration of a client PC, sensors, and a variety of accessories—all accessible
through a common application interface to the robot’s server software, AmigoSH.
Features include:
 44.2368 MHz Renesas SH2 32-bit RISC microprocessor with 32K RAM and 128K FLASH
 2 RS-232 serial and 2 SCI ports configurable from 9.6 to 115.2 kilobaud
 1 Array of 8 sonar
 Heading correction gyro port
 User Control Panel with RESET and MOTORS pushbutton controls; Power, System and
User LEDs, and a piezo buzzer
 4-line X 20-character LCD support
 Expansion connector with built-in 8-bit r/w bus, analog and digital I/O and more…
CLIENT SOFTWARE
All MOBILEROBOTS platforms, including AmigoBot, operate as the server in a client-server
environment: Their controllers handle the low-level details of mobile robotics, including
maintaining the platform’s drive speed and heading over uneven terrain, acquiring
sensor readings, such as from the sonar, and managing attached accessories. To
complete the client-server architecture, AmigoBot requires a PC connection: software
running on a computer connected with the robot’s controller via the HOST serial link and
which provides the high-level,
intelligent robot controls,
including obstacle avoidance,
path planning, features
recognition, sonar localization,
navigation, and so on.
An important benefit of
MOBILEROBOTS’ client-server
architecture is that different
robot servers can be run using
the same high-level client.
Several clients also may share
responsibility for controlling a
single mobile server, which
permits experimentation in
distributed communication,
planning, and control.
Figure 3. Team AmigoBot requires a PC to run client
software for intelligent robotics command and
control o
p
erations.
ARIA and ArNetworking
Advanced Robotics Interface for Applications (ARIA) software, including ArNetworking,
comes with every MOBILEROBOTS platform. ARIA is a C++-based open-source
development environment that provides a robust client-side interface to a variety of
intelligent robotics systems, including your robot’s controller and accessory systems.
ArNetworking provides the critical layer for TCP/IP-based communications with your
MOBILEROBOTS platform over the network. ARIA is the ideal platform for integration of your
5

What isAmigoBot?
own robot-control software, since it neatly handles
the lowest-level details of client-server interactions,
including serial communications, command and
server-information packet processing, cycle timing,
and multithreading, as well as support of a variety
of accessories and controls, such as a scanning
laser-range finder, motion gyros, sonar, and many
others.
Figure 4. ARIA's architecture
What’s more, ARIA with ArNetworking comes
complete with source code so that you may
examine the software and modify it for your own
sensors and applications.
Mapping, Localization, and Navigation
MOBILEROBOTS also provides a comprehensive suite of client tools and applications by
which you create, edit, and use maps and floorplans for advanced robotics
applications, including localization and navigation. For much more information about
Mapper3™, SONARNL™, ARNL™, the GUI client MobileEyes™, and our many commercial
ventures, visit http://www.mobilerobots.com and contact [email protected].
Figure 5. Use MobileEyes™ for advanced control of your robot over the network.
6

MOBILEROBOTS
MODES OF OPERATION
You may operate your AmigoBot in one of three modes:
 Server
 Maintenance
 Standalone
Server Mode
Your AmigoBot’s new Renesas SH2-7144 microprocessor-based controller comes with
128K of re-programmable FLASH and 32K dynamic RAM memory. However, we don't
recommend that you start learning SH2 programming. Rather, the robot comes to you
installed with the latest AmigoSH servers so you may concentrate on your clients.
In conjunction with client software like ARIA running on an onboard or other user-supplied
computer, AmigoSH (pronounced “ah-me-gosh”) lets you take advantage of modern
client-server and robot-control technologies to perform advanced robot tasks. Most
users run their MOBILEROBOTS platform in server mode, because it gives them quick, easy
access to its robotics functionality while working with high-level software on a familiar
host computer.
Maintenance and Standalone Modes
For experiments in controller-level operation of your robot’s functions, you may
reprogram its onboard FLASH for direct and standalone operation. We supply the means
to download and debug (AMIGOstub embedded GDB interface), but not the controller's
programming software, for you to work in standalone mode.
The utilities we provide for you to reprogram the AmigoBot’s controller FLASH also may be
used to update and upgrade your robot’s AmigoSH servers. In a special Maintenance
Mode, you also adjust your robot’s operating parameters that AmigoSH uses as default
values on startup, during a client connection, and on reset. See Chapter 6, Updating &
Reconfiguring AmigoSH, for much more detail.
We typically provide the maintenance utilities and AmigoSH upgrades free for download
from our website, so be sure to sign up for the amigobot-users email newslist. That's
where we notify our customers of the upgrades, as well as where we provide access to
MOBILEROBOTS users worldwide.
Figure 6. Pioneer 1 was first introduced to the world at
IJCAI ’95 in Montreal.
THE PIONEER LEGACY
Commercially introduced in
the summer of 1995, Pioneer 1
was the original platform.
Intended mostly for indoor use
on hard, flat surfaces, the
robot had solid rubber tires
and a two-wheel differential,
reversible drive system with a
rear caster for balance. It
came with a single-board
68HC11-based robot controller and the Pioneer Server Operating System (PSOS)
software. The Pioneer 1 also came standard with seven sonar range finders (two side-
facing and five forward-facing) and integrated wheel encoders. Its low-cost and high-
performance caused an explosion in the number of researchers and developers who
now have access to a real, intelligent mobile robotic platform.
7

What isAmigoBot?
Software-wise, the Pioneer 1 initially served as a platform for SRI International's AI/fuzzy
logic-based Saphira robotics applications development. But it wasn't long before
Pioneer’s open architecture became the popular platform for the development of a
variety of alternative robotics software environments.
Pioneer AT
Functionally and programmatically identical to the Pioneer 1, the four-wheel drive, skid-
steer Pioneer AT was introduced in the summer of 1997 for operation in uneven indoor
and outdoor environments, including loose, rough terrain.
Figure 7. The Performance
PeopleBot sports an attractive
body design and bundled
systems, including voice
synthesis and recognition for
human-interaction research
and applications.
Except for the drive system, there were no operational differences between the Pioneer
AT and the Pioneer 1: The integrated sonar arrays
and controllers were the same; they shared
accessories; and applications developed for the
Pioneer 1 worked with little or no porting on the AT.
Pioneer 2™ and PeopleBot™
The next generation of Pioneer, including the
Pioneer 2-DX, -CE, and -AT, introduced in fall of 1998
through summer of 1999, improved upon the Pioneer
1 legacy while retaining its many important
advantages.2Indeed, in most respects, particularly
with applications software, Pioneer 2 worked
identically to Pioneer 1 models, but offered many
more expansion options, including a client PC
onboard the robot.
The ActivMedia Robotics Pioneer 2 models -DX, -DE, -
DXe, -DXf, and -AT, and the V1 and Performance
PeopleBot robots used a 20 MHz Siemens 88C166-
based controller, with independent motor-power
and sonar controller boards for a versatile operating
environment. Sporting a more holonomic body,
larger wheels and stronger motors for better indoor
performance, Pioneer 2-DX, -DXe, -DXf, and -CE
models, like Pioneer 1, were two-wheel, differential-
drive mobile robots.
The four-wheel drive Pioneer 2-AT had four
independent motors and drivers. Unlike its Pioneer
AT predecessor, the Pioneer 2-AT came with a stall-detection system and inflatable
pneumatic tires with metal wheels for much more robust operation in rough terrain, as
well as the ability to carry nearly 30 kilograms (66 lbs) of payload and climb a 60-percent
grade.
Other Pioneer 2-like robots include the Performance PeopleBot robots, which were
introduced in 2000. They are architecturally Pioneer 2 robots, but with stronger motors
and integrated human-interaction features, including a pedestal extension, integrated
voice and sound synthesis and recognition—ideal for human-interaction studies as well
as for commercial and consumer mobile-robotics applications.
8
2Price/performance ratio included! The much more capable and expandable Pioneer 2 was introduced four
years later for just a few hundred dollars (US) more than the original Pioneer 1.

MOBILEROBOTS
AmigoBot
Although sporting a 16-bit Hitachi H8S-based controller and highly durable
polycarbonate body, the AmigoBot in many ways was an updated Pioneer 1: Released
in Summer of 2000, it reintroduced the concept of a small, lightweight, self-contained
platform ideal for training and education in intelligent mobile robot controls.
Like the original, your new Team AmigoBot, first released in Spring of 2005, has a single
controller board for client-server operation with motor drives, sonar, and other device
supports built in. The principle difference in design from the original model is that the
new AmigoBot sports the advanced SH2-based controller.
Pioneer 3™ and Recent Pioneer 2-DX8™, -AT8™, and Plus™ Mobile Robots
Two new models of Pioneer 2 appeared in the summer of 2002, two more at the
beginning of 2003, and the Pioneer 3 debuted in the summer of 2003. All used a special
“P2H8” controller based on the Hitachi H8S microprocessor, with new control systems
software (AROS) and I/O expansion capabilities. The Pioneer 3 and 2-Plus robots also
had new, more powerful motor/power systems for better navigational control and
payload.3
Pioneer 3™ SH Robots
Like your new Team AmigoBot, the latest Pioneer, Performance PeopleBot, and PowerBot
robots—all introduced in summer of 2004—are identical to their predecessors except for
their revolutionary new Renesas SH2-based controller. Software-wise, these new robots
are fully compatible with all other MOBILEROBOTS platforms, including Pioneer 1. Their new
Advanced Robot Control & Operation Software (ARCOS) provides unprecedented
performance and expansion, yet can interface and run client programs originally
developed for Pioneer 1, 2, as well as 3 platforms.
To the relief of those who have invested years in developing software for MOBILEROBOTS
platforms, your new Team AmigoBot truly does combine the best of the new mobile
robot technologies with ActivMedia’s tried-and-true robot architecture.
Figure 8. PowerBot™ carries over 100 kg of
payload.
3The interim Pioneer 2-DXf had the same, more-powerful motors as the DX8s and AT8 Plus.
9

Specifications & Controls
Specifications & ControlsChapter 3
AmigoBot is an intelligent mobile robot. Combined with state-of-the-art robotics software
like ARIA, ArNetworking, SONARNL, and MobileEyes running on your PC, AmigoBot can
actually determine where it is (localization) and find its way safely from one place to the
next (navigation); with your help (teleoperation) and without your help (self-guided
navigation), all the while going around obstacles, through doors, over bumps, under
tables…
Figure 9. AmigoBot features
PHYSICAL CHARACTERISTICS AND COMPONENTS
AmigoBot is intended for indoor use in wheelchair-accessible places, including homes,
schools, nursing homes, hospitals, offices, and research labs. The small (28 x 33 x 13
centimeters), lightweight (3.6 kilograms with batteries), and highly maneuverable
(meters-per-second translation; 300 degrees-per-second rotation; turns in place)
AmigoBot robot has a high impact-resistant polycarbonate body with a solid, but
lightweight aluminum chassis. Each of its two solid 10.2 centimeter-diameter rubber tires
are driven by a reversible 12 VDC motor. The drive system includes a passive rear caster
for balance.
The standard AmigoBot comes with eight range-finding sonar: one on each side, four
forward facing and two in the rear for 360-degree sensing coverage.
Figure 10. AmigoBot's sensors, controls, indicators and ports
10

MOBILEROBOTS
Attached to each drive axle is a high-resolution optical quadrature shaft encoder that
provides 123 ticks-per-millimeter of wheel rotation for precise position and speed sensing
and advanced dead-reckoning.
The AmigoBot drive and sensor systems are powered and processed from a single
controller, driven by a high-performance, I/O-rich Renesas SH2 microprocessor. The
resident operating system (AmigoSH) has 16K RAM and 128K FLASH on-chip memory to
work with.
POWER AND CHARGING
A single slide-switch on the bottom of AmigoBot near the caster controls power to the
entire robot and all of its integrated accessories. A red LED on the top towards the rear
of the robot is lit when the AmigoBot has power.
The standard AmigoBot comes with a pair of 12 VDC sealed lead/acid batteries for a
total of 4.6 ampere-hours (55.2 watt-hours)—more than ample power for its drives,
electronics, and accessories. Under typical operation with continuous motor activity, the
battery provides over 3 hours of service.
Use the recommended accessory 12 VDC charger or
equivalent and plug into the round charge port to
recharge the lead-acid batteiesy and to power your
AmigoBot.4All the recommended chargers have
sufficient power to run your AmigoBot’s controller as well
as charge the internal batteries, so you need not turn off
power.
Figure 11. AmigoBot's power
switch and charge ports
You should maintain AmigoBot’s batteries in a charged
state above 11 VDC. We recommend recharging the
battery when it falls below 11.7 VDC (lowbattery FLASH
parameter), even though the robot may continue to
operate below 11 VDC. The controller will sound a
warning when the battery voltage falls below that
programmed level and will automatically shut down the
motors and any active client-server connection when
the battery voltage falls below a ShutdownVolts FLASH
parameter’s value so to avoid damage.
See Chapter 5, Updating and Reconfiguring AmigoSH for additional details.
Disengage the motors when recharging AmigoBot,
but you may continue operating the robot.
Typical recharge time depends on the charger and the discharge state of the battery.
The AmigoBot’s standard charger (800 milliampere two-state fast charger) recharges the
lead-acid battery in 2-4 hours. You may continue to operate AmigoBot while charging its
batteries, although that will lengthen the recharge time.
USER INDICATORS AND CONTROLS
On top, near the back of AmigoBot next to the red power LED, are two pushbutton
switches and two additional LEDs. The red pushbutton switch is the Reset button. Press it
at any time to reset the AmigoBot controller to its power start-up state—motors
disengaged and not connected with a client.
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4The three-position charge port is for future battery styles and requisite charger.

Specifications & Controls
The black Motors/Test pushbutton’s function depends on the operating state of the
robot. When not connected with a client, press the button once to enable and a
second time to begin AmigoBot’s self-tests, for instance.
See Chapter 3, Quick Start and Self Tests, for details.
When connected with a client, the black
Motors/Test button manually enables
and disables the motors, which also can
be performed programmatically with the
AmigoSH command #4, as described in
detail in Chapter 4.
Figure 12. AmigoBot's control buttons and
indicators
When pressed in combination, the
Motors/Test and Reset buttons enable
Maintenance Mode on the controller.
See Chapter 5, Updating and Configuring
AmigoSH, for details.
The green System and amber User LEDs indicate AmigoSH activities, depending on the
current mode of operation. For example, on start up, the green LED flashes slowly and
rhythmically, while the amber LED is OFF. When connected with a client, the amber User
lamp flashes rapidly indicating client-server serial communications activity. And when
connected, the green System LED flashes rapidly when the motors are enabled, and
slowly when the motors are disabled.
A built-in piezo buzzer, audible through the holes on the right top side of AmigoBot across
from the indicators and controls, provides audible clues to the robot’s state, such as
upon successful startup of the controller and a client connection. An AmigoSH client
command lets you program the buzzer, too, to play your own MIDI sounds.
Serial Communications & Expansion I/O
Every AmigoBot comes with a 9-pin DSUB
serial connector and power plug that
emerge from the bottom of the robot. These
normally are for connection to the Ethernet-
to-serial accessory for wireless client-server
connections.
Otherwise, for AmigoSH FLASH maintenance
and for tethered client-server communica-
tion with the controller, you also access
AmigoBot’s Host (RS-232) serial port by lifting
out and removing the black rectangular
plastic cover near the center of the robot.
Through that portal, find a 9-pin DSUB socket into which you plug a common, “pass-
through” serial cable to your client PC.5
Figure 13. AmigoBot's expansion portal
Also inside that portal, find a 5-position latch-lock header that provides a second,
auxiliary RS-232 serial port as well as 12 and 5 VDC power for accessories. Access the 40-
position high-density IDC latching connector for its many I/O ports.
See Appendix A, Ports and Connectors, for details.
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5Since the ports are shared, power off or unplug the Serial Ethernet accessory or other attached device when
using the Host/System port on top of AmigoBot.

MOBILEROBOTS
SONAR
The AmigoBot comes standard with a single array of eight sonar. The sonar positions are
fixed: one on each side, four facing forward, and two at the rear, together providing
nearly 360 degrees of range sensing. The sonar are numbered clockwise around the
robot, beginning with the left side disc.
Sonar Rate and Sequence
The sonar array’s transducers
are multiplexed: Only one disc
is active at a time. The sonar
ranging acquisition rate is
adjustable, normally set to 25
Hertz (40 milliseconds per
transducer). Sensitivity ranges
from 10 centimeters (six inches)
up to five meters, depending on
the ranging rate. You may
control the sonar’s firing pattern
through software, too; the
default is left-to-right in
sequence 0 to 7 for each array.
See the AmigoSH Chapters 5
and 6 for details. Figure 14. AmigoBot's sonar array
Sonar Sensitivity
All eight sonar are controlled from a single board. Although calibrated at the factory,
you may adjust the sonar sensitivity and range to accommodate differing AmigoBot
operating environments. The sonar gain control is a one-turn screwcap accessible
through a hole on the top and near the front of AmigoBot. You may have to remove an
accessory to uncover the hole.
Using a flat-bladed screwdriver, turn the adjustment screw counterclockwise to make the
sonar less sensitive to external noise and false echoes. Low sonar-gain settings reduce
the robot’s ability to see small objects. Under some circumstances, that is desirable. For
instance, attenuate the sonar if you are operating in a noisy environment or on uneven
or highly reflective floora heavy shag carpet, for example. If the sonar are too
sensitive, they will “see” the carpet immediately ahead of the robot as an obstacle.
Increase the sensitivity of the sonar array by turning the gain-adjustment screw clockwise,
making the sonar more likely to see small objects or objects at a greater distance. For
instance, increase the sonar gain if you are operating in a relatively quiet and open
environment with a smooth floor surface.
MOTORS, WHEELS, AND POSITION ENCODERS
AmigoBot’s tires are four inches (10.2cm) in diameter and made of soft, but firm rubber
for good traction and low compressibility. AmigoBot’s drive system uses high-speed,
high-torque, reversible-DC motors. Each drive motor includes a high-resolution optical
quadrature shaft encoder that provides 123 ticks per millimeter of wheel rotation for
precise position and speed sensing and advanced dead-reckoning.
Three FLASH-based parameters influence AmigoBot’s odometry: RevCount sets the
differential encoder ticks for 180 degrees of rotation which AmigoSH uses to compute
heading and speed of rotation. TicksMM is the number of ticks per millimeter of tire
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Specifications & Controls
rotation which AmigoSH uses to compute speed and distance traveled. DriftFactor, a
signed integer measured in 1/8192 units, gets added to or subtracted from the left-wheel
encoder’s value to compensate for unevenly sized tires.
See Chapters 5 and 6 for a detailed description of AmigoBot’s odometry measures and
controller-FLASH related variables.
SAFETY AMIGOSH WATCHDOGS
AmigoSH contains a FLASH-settable client WatchDog that will halt the robot’s motion if
communications between a PC client and the robot server are disrupted for a set time
interval. The robot will automatically resume activity, including motion, as soon as
communications are restored.
AmigoSH also contains a stall monitor. If the drive exerts a PWM pulse that equals or
exceeds a configurable level (StallVal) and the wheels fail to turn, the motors relax
(power off) for a configurable amount of time (StallWait). The server software also
notifies the client which motor is stalled. When the StallWait time elapses, motor power
automatically switches back on and motion continues under client control.
You may reconfigure these and many other FLASH-based parameter values to suit your
application. See Chapter 6, Updating & Reconfiguring AmigoSH, for details.
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