ActivMedia Robotics PeopleBot User manual

Performance PeopleBot™
Operations Manual
with
NEW Hitachi H8S-based Controller
NEW Plus Motor-Power Board
&
ActivMedia Robotics Operating System Software
Software

Copyright © 2003, ActivMedia Robotics, LLC. All rights reserved.
Under international copyright laws, this manual or any portion of it may not be copied or
in any way duplicated without the expressed written consent of ActivMedia Robotics.
The software on disk, CD-ROM, and/or in the microcontroller’s FLASH, which accompany
the robot and are available for network download by ActivMedia Robotics customers,
are solely owned and copyrighted or are licensed products distributed 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 the ActivMedia Robotics
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.
ActivMedia Robotics’ Performance PeopleBot Plus Operations Manual, version 2, February, 2003
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ActivMedia Robotics
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
iii

Table of Contents
CHAPTER 1 INTRODUCTION................................................................................................................. 1
ROBOT PACKAGE ........................................................................................................................................ 1
Basic Components .................................................................................................................................. 1
Optional Components and Attachments (partial list) ............................................................................. 1
ADDITIONAL RESOURCES ............................................................................................................................ 2
Support Website...................................................................................................................................... 2
Newsgroups ............................................................................................................................................ 2
Support ................................................................................................................................................... 2
CHAPTER 2 WHAT ARE PIONEER AND PEOPLEBOT?................................................................... 4
PIONEER REFERENCE PLATFORM ................................................................................................................ 4
PIONEER FAMILY OF MICROCONTROLLERS AND OPERATING SYSTEM SOFTWARE ...................................... 5
PLUS MOTOR-POWER BOARD ..................................................................................................................... 6
CLIENT SOFTWARE...................................................................................................................................... 6
ActivMedia Robotics Basic Suite ............................................................................................................ 7
ARIA ....................................................................................................................................................... 7
Saphira ................................................................................................................................................... 8
ACTS....................................................................................................................................................... 8
Laser Navigation and Localization......................................................................................................... 8
THE PIONEER LEGACY................................................................................................................................. 8
Pioneer 1 and AT.................................................................................................................................... 8
Pioneer 2 and PeopleBot ........................................................................................................................ 9
New Performance PeopleBot Plus.......................................................................................................... 9
MODES OF OPERATION .............................................................................................................................. 10
Server Mode.......................................................................................................................................... 10
Maintenance and Standalone Modes.................................................................................................... 10
Joydrive and Self Test Modes ............................................................................................................... 11
CHAPTER 3 SPECIFICATIONS & CONTROLS ................................................................................. 12
MAIN COMPONENTS .................................................................................................................................. 12
STRUTS AND DECKS .................................................................................................................................. 13
BODY AND NOSE ....................................................................................................................................... 14
BATTERIES AND POWER ............................................................................................................................ 14
MOTORS. WHEELS, AND POSITION ENCODERS .......................................................................................... 15
SONAR ARRAYS WITH GAIN ADJUSTMENT ................................................................................................ 15
PROTECTIVE IRS, BUMPERS, AND EMERGENCY STOP.............................................................................. 16
USER CONTROL PANEL ............................................................................................................................. 17
INTEGRATED PC ........................................................................................................................................ 18
PC Control Panel ................................................................................................................................. 19
Operating the Onboard PC .................................................................................................................. 19
Radio Ethernet and PC Networking ..................................................................................................... 20
UPS and Genpower .............................................................................................................................. 21
COLOR PTZ CAMERA AND A/V SYSTEMS................................................................................................. 21
SOUND SYSTEM ......................................................................................................................................... 22
GRIPPER .................................................................................................................................................... 22
SAFETY WATCHDOGS................................................................................................................................23
CHAPTER 4 QUICK START................................................................................................................... 24
PREPARATIVE ASSEMBLY.......................................................................................................................... 24
Install Batteries..................................................................................................................................... 24
DRIVE SELF-TEST...................................................................................................................................... 24
ARIA DEMONSTRATION PROGRAMS......................................................................................................... 25
Client Server Connection...................................................................................................................... 25
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ActivMedia Robotics
A Successful Connection .......................................................................................................................26
Operating the ARIA Demonstration Client............................................................................................26
Disconnecting........................................................................................................................................27
DEMO TROUBLESHOOTING.........................................................................................................................27
SRIsim ...................................................................................................................................................27
ARIA SPEECH DEMONSTRATION ...............................................................................................................28
speechSimple .........................................................................................................................................28
goPing ...................................................................................................................................................28
ARIA Speech Troubleshooting...............................................................................................................29
CHAPTER 5 JOYDRIVE AND SELF-TESTS ........................................................................................30
JOYDRIVE MODE ........................................................................................................................................30
ENGAGING SELF-TESTS..............................................................................................................................31
CHAPTER 6 ACTIVMEDIA ROBOTICS OPERATING SYSTEM.....................................................32
CLIENT-SERVER COMMUNICATION PACKET PROTOCOLS...........................................................................32
Packet Checksum...................................................................................................................................33
Packet Errors ........................................................................................................................................33
SERVER INFORMATION PACKETS ...............................................................................................................34
CLIENT COMMANDS ...................................................................................................................................35
THE CLIENT-SERVER CONNECTION............................................................................................................37
Autoconfiguration (SYNC2)...................................................................................................................37
Opening the Servers—OPEN ................................................................................................................38
Keeping the Beat—PULSE....................................................................................................................38
Closing the Connection—CLOSE..........................................................................................................38
MOTION COMMANDS .................................................................................................................................39
ActivMedia Robots in Motion................................................................................................................39
PID Controls .........................................................................................................................................40
Position Integration...............................................................................................................................41
SONAR .......................................................................................................................................................41
STALLS AND EMERGENCIES ........................................................................................................................42
ACCESSORY COMMANDS AND PACKETS ....................................................................................................43
Packet Processing .................................................................................................................................43
CONFIGpac and CONFIG Command ..................................................................................................43
AUX port communications ....................................................................................................................44
Encoder packets ....................................................................................................................................45
Sounds ...................................................................................................................................................45
Onboard PC ..........................................................................................................................................45
TCM2.....................................................................................................................................................46
INPUT OUTPUT (I/O) ..................................................................................................................................46
User I/O.................................................................................................................................................47
Bumper and IR I/O ................................................................................................................................47
Expansion I/O........................................................................................................................................47
IO packets..............................................................................................................................................47
GRIPPER .....................................................................................................................................................48
Gripper Servers .....................................................................................................................................48
GRIPPERVAL Gripper Values..............................................................................................................49
Grasping Pressure.................................................................................................................................49
LIFTCarry .............................................................................................................................................50
Gripper States and Status......................................................................................................................50
CHAPTER 7 UPDATING & RECONFIGURING AROS ......................................................................51
WHERE TO GET AROS SOFTWARE ............................................................................................................51
AROS MAINTENANCE MODE ....................................................................................................................51
SIMPLE AROS UPDATES............................................................................................................................51
AROSCF ....................................................................................................................................................52
STARTING AROSCF ...................................................................................................................................52
CONFIGURING AROS OPERATING PARAMETERS .......................................................................................53
Interactive Commands...........................................................................................................................53
Changing Parameters............................................................................................................................53
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SAVE YOUR WORK.................................................................................................................................... 54
PID PARAMETERS ..................................................................................................................................... 54
TICKSMM AND REVCOUNT ........................................................................................................................ 56
STALLVAL AND STALLCOUNT .................................................................................................................. 57
BUMPERS................................................................................................................................................... 57
CHAPTER 8 MAINTENANCE & REPAIR............................................................................................ 58
TIRE INFLATION ........................................................................................................................................ 58
DRIVE LUBRICATION ................................................................................................................................. 58
BATTERIES ................................................................................................................................................ 58
Changing Batteries ............................................................................................................................... 58
Hot-Swapping the Batteries.................................................................................................................. 58
Charging the Batteries.......................................................................................................................... 59
Alternative Battery Chargers................................................................................................................ 59
GETTING INSIDE ........................................................................................................................................ 59
Removing the Nose ............................................................................................................................... 59
Opening the Lower Deck ...................................................................................................................... 60
FACTORY REPAIRS .................................................................................................................................... 60
APPENDIX A.............................................................................................................................................. 61
H8S PORTS & CONNECTIONS.................................................................................................................... 61
H8S MICROCONTROLLER.......................................................................................................................... 61
Power Connector.................................................................................................................................. 61
Serial Ports........................................................................................................................................... 62
User I/O-Gripper Port.......................................................................................................................... 62
The Expansion I/O Bus ......................................................................................................................... 63
Bumper Ports........................................................................................................................................ 63
Motors, Encoders, and IR Sensors........................................................................................................ 64
* Board versions C and earlier pin 24 HOST RI and pin 26 ground. .................................................. 64
User Control Interface.......................................................................................................................... 64
Joystick Port ......................................................................................................................................... 65
APPENDIX B.............................................................................................................................................. 66
NEW PLUS MOTOR-POWER BOARD ........................................................................................................... 66
Configuration for Current and Temperature Sensing........................................................................... 66
Controller Power and Interface............................................................................................................ 67
Radio, Auxiliary, and User Power Connectors .................................................................................... 67
IR Signal and Power............................................................................................................................. 68
LEGACY MOTOR-POWER........................................................................................................................... 68
APPENDIX C.............................................................................................................................................. 69
SPECIFICATIONS ........................................................................................................................................ 69
WARRANTY & LIABILITIES ................................................................................................................ 71
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ActivMedia Robotics
Figure 1. Pioneer Mobile Robots first
appeared commercially in 1995.
IntroductionChapter 1
Congratulations on your purchase and
welcome to the rapidly growing community
of researchers, developers, and enthusiasts
of ActivMedia Robotics’ intelligent mobile
robots.
This Performance PeopleBot Operations
Manual provides both the general and
technical details you need to operate your new Performance PeopleBot Plus™ mobile
robot with its new Hitachi H8S-based microcontroller and motor-power system, and to
begin developing your own robotics hardware and software.
For operation of previous versions of Performance PeopleBot which have the Siemens
C166-based microcontroller and support systems, please consult the Pioneer 2
Operations Manual available through [e-mail] or at our support website:
http://robots. activmedia.com.
ROBOT PACKAGE
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 warranty your ActivMedia robot
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 ActivMedia Robotics package
complete, please check the components carefully after you unpack them from the
shipping crate.
Basic Components
 One fully assembled Performance PeopleBot Plus™ mobile robot
 Three batteries
 CD-ROM containing copies of ActivMedia Robotics software and documentation
 Hex wrenches
 Replacement fuse and assorted replacement screws
 Set of manuals
 Registration and Account Sheet
 ActivMedia Color Tracking System (ACTS)
Optional Components and Attachments (partial list)
 Stereo Vision Systems
 Custom Vision System
 Range-finding laser with navigation software
 Global Positioning System
 Compass
 Serial cables for external connections
 Many more…
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Congratulations
ADDITIONAL RESOURCES
New ActivMedia Robotics customers get three additional and valuable resources:
 A private account on our Internet server for software, updates, and manuals
 Access to private newsgroups
 Direct access to the ActivMedia Robotics 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 pioneer-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
Pioneer users:1
To: [email protected]
From: <your return e-mail address goes here>
Subject: <something of interest to pioneer users>
Access to the pioneer-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 Pioneer
or PeopleBot robots.
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:
http://robots.activmedia.com/techsupport
1Note: Leave out the –requests part of the email address when sending messages to the newsgroup.
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ActivMedia Robotics
or by email:
[email protected]
Please include your robot's serial number (look for it beside the Main Power switch)we
often need to understand your robot's configuration to best answer your question.
Your message goes directly to the ActivMedia Robotics technical support team. There a
staff member will help you or point you to a place where you can find help.
Tell us your robot’s SERIAL NUMBER
Because this is a support option, not a general-interest newsgroup like pioneer-users,
we reserve the option to reply only to questions about problems with your robot or
software.
See Chapter 8, Maintenance & Repair, for more details.
3

What Are Pioneer and PeopleBot?Chapter 2
The Performance PeopleBot™ is an
intelligent mobile robot specially
designed and equipped for human-
robot interaction research and
applications. It is member of the
Pioneer family of mobile robots, which
are research and development
platforms that share a common
architecture, foundation software, and
employ a client-server robotics control
architecture that was originally
developed by Kurt Konolige, Ph.D., of
SRI International, Inc. and Stanford
University.
Figure 2. ActivMedia Robots
PIONEER REFERENCE PLATFORM
ActivMedia robots set the standards for
intelligent mobile platforms 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.
Figure 3. The Performance
PeopleBot sports an attractive body
design and bundled systems,
including voice synthesis and
recognition for human-robot
interaction research and
applications.
Every ActivMedia robot comes complete with
a sturdy aluminum body, balanced drive
system (two-wheel differential with balancing
caster or four-wheel skid-steer), reversible DC
motors, motor-control and drive electronics,
high-resolution motion encoders, and long-life,
hot-swappable battery power, all managed by
an onboard microcontroller and mobile-robot
server software.
Besides the open-systems ActivMedia Robotics
Operating System (AROS) software in the
robot’s microcontroller, every ActivMedia robot
comes with a host of advanced robot-control
client software applications and application-
development environments. Software
development includes our own foundation
ActivMedia Robotics Interface for Applications
(ARIA), released under the GNU Public License
and complete with fully documented C++
libraries and source code. SRI International’s
Saphira robotics development system with
simulator and GUI, as well as support for
advanced localization and gradient-based
navigation comes bundled, too. Several third-
party robotics applications development
environments also have emerged from the
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ActivMedia Robotics
research community for ActivMedia robots, including Ayllu from Brandeis University, Pyro
from Bryn Mawr and Swarthmore Colleges, and Player from the University of Southern
California.
Available applications software include the ActivMedia Robotics Basic Suite and Basic
Suite Pro with state-of-the-art autonomous and guarded operation of the robot and
accessories for surveillance, delivery, and a variety of other remote-agent applications.
Every ActivMedia robot also comes with a plethora of expansion options, too, including
built-in hardware support for sonar and bump sensors and lift/gripper effectors, as well as
serial-port and server software support for a number of sensors, effectors, and control
accessories, like an onboard PC system, 5-DOF arm, robotic pan-tilt cameras, and much,
much more.
PIONEER FAMILY OF MICROCONTROLLERS AND OPERATING SYSTEM SOFTWARE
The original Pioneer 1 mobile robot server had a microcontroller based on the Motorola
68HC11 microprocessor and powered by Pioneer Server Operating System (PSOS)
software. The first generation of Pioneer 2 and PeopleBot robots used a Siemens C166-
based microcontroller and Pioneer 2 Operating System (P2OS) software. Now, all new
ActivMedia robots, including Pioneer 2, PeopleBot, AmigoBot, and PowerBot, use a
multifunctional Hitachi H8S-based microcontroller and new ActivMedia Robotics
Operating System (AROS) software.2The newest Plus platforms sport an advanced
motor-power board for high-power motor drives and systems power.
Although differing in some interfacing features, processing power, support for various
sensors, and I/O, all ActivMedia Robotics’ server-operating system software—PSOS, P2OS,
and now AROS—are upwardly compatible. Accordingly, client software written to
operate a six-year old Pioneer AT will work with your brand new Performance PeopleBot.
We’ve taken great care to have all client commands for control of that original Pioneer 1
work identically in our latest robots. Client-server communications protocols over a serial
communication link remain identical, too. See Chapter 6, ActivMedia Robotics
Operating System, for details.
Your H8S-based ActivMedia robot 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 server software,
AROS. Features include:
 18 MHz Hitachi H8S/2357 with 32K RAM and 128K FLASH
 Optional 512K FLASH or SRAM expansion
 3 RS-232 serial ports (4 connectors) configurable from 9.6 to 115.2 kbaud
 4 Sonar arrays of 8 sonar each
 2 8-bit bumpers/digital input connectors
 1 P2 Gripper/User I/O connector with 8-bits digital I/O and 1 analog input
 1 Expansion/bus connector containing
 5 Analog input
 2 Analog output
 8-bit I/O bus with r/w and 4 chip-selects
 2-axes, 2-button joystick port
 User Control Panel
 Controller HOST serial connector
 Main power and bi-color LED battery level indicators
 AUX and RADIO power switches with related LED indicators
 RESET and MOTORS pushbutton controls
 Piezo buzzer
2AmigoBot has an H8S-based microcontroller, but uses the AmigoBot Operating System tailored for its
electronics.
5

 Motor/Power Board (drive system) interface with PWM and motor-direction
control lines and 8-bits of digital input
With the onboard PC, wireless Ethernet, and advanced navigational software, your
Performance PeopleBot becomes an autonomous agent. And its raised top deck with
attached speakers and microphone, with internal software support for voice recognition,
speech generation, and sound playback, make it an ideal platform for human-robot
interaction research and applications.
PLUS MOTOR-POWER BOARD
The new Performance PeopleBot comes with a newly introduced, advanced motor-
power board—hence, the Plus name extension.3It replaces the legacy board and can
be configured as a plug-and-play replacement for older PeopleBots.
Besides expanded user-power connectors and connections for ease and versatility of
use, the new board supplies three to four times the motor power than the original board.
Accordingly, the Plus platforms operate more robustly over rougher terrain (fewer stalls!)
and carry significantly more payload when compared with their predecessors.
CLIENT SOFTWARE
At its most basic level, your Performance PeopleBot operates as the server in a client-
server environment: Its drive system, integrated sensors, and microcontroller 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
encoders, and managing attached accessories like the PTZ camera and Gripper. To
complete the client-server architecture, ActivMedia robots require a client connection:
software running on a computer connected with the robot’s microcontroller via the HOST
serial link and which provides the high-level, intelligent robot controls, including obstacle
avoidance, path planning, features recognition, localization, gradient navigation, and so
on.
An important benefit of ActivMedia Robotics’ client-server architecture is that different
robot servers can be run using the same high-level client. For example, we provide a
robot simulator that runs on the host machine that can look and act just like your real
robot. With the simulator, you may conveniently perfect your application software, then
download and run it without modification on your Performance PeopleBot. Several
clients also may share responsibility for controlling a single mobile server, which permits
experimentation in distributed communication, planning, and control.
Currently available client software and development environments for the Microsoft
Windows or Red Hat© Linux-based computing platform of your choice include:4
 ActivMedia Robotics Basic Suite with WorldLink Internet surveillance and control
 ActivMedia Robotics Interface for Applications (ARIA)
 SRIsim ActivMedia robot simulator
 SRI’s Saphira client-development suite with Colbert
Versions and updates for supported computing platforms are available to password-
registered customers for download from our software website:
http://robots.activmedia.com
3We’ll use the Plus moniker only when it matters in differentiating the robot from its predecessor.
4Most software comes bundled with your PeopleBot. Other packages require purchase for licensing. Some
software also are available for alternative operating systems, such as Macintosh, SunOS, Solaris, and BSD Unix.
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ActivMedia Robotics
ActivMedia Robotics Basic Suite
Figure 4. Navigator and
WorldPass guide the robot to a
goal with a click of the mouse.
To better support our customers, ActivMedia
Robotics software designers have blended and
refined the best of advanced mobile robotics
software found in the many development
environments into a suite of state-of-the-art
software tools and applications. We call this suite
ActivMedia Robotics Basic Suite, and it includes
the following five modules plus a robot simulator:
NAVIGATOR is the crown jewel—a sophisticated
graphical-user control module with which you
access your ActivMedia robot’s many intelligent
capabilities, from guarded teleoperation to self-
guided navigation along a planned path to a
goal that you select onscreen with a click of the
mouse. Navigator also lets you remotely share,
connect and operate the robot from the Internet, or a local area network. You can see
and hear from afar what your robot sees and hears through its camera and microphone.
Navigator even lets you chat and exchange audio and video with others who may be
connected simultaneously.
WORLDPASS is a free version of Navigator that lets you share your robot with colleagues,
friends, and family. WorldPass provides all the networking and remote-control
functionality of Navigator, including network video and audio, but only connects with a
robot through a host running Navigator, not to one directly. You may distribute WorldPass
to anyone you want to use your robot, but it will not appear on your own menu since it
copies functionalities of Navigator, which you may not distribute.
MAPPER provides the tools you need to construct a map of your robot’s real operating
space (“world”). Navigator and WorldPass use this map floor plan to plan a path from
one point to another within a space.
TRAINER is a programming editor and robot interface in which you create and perfect
your own intelligent mobile robot-control programs with the simple, yet powerful Colbert
programming language.
SIMULATOR is not a separate module of Basic Suite. It is a connection option that provides
a virtual replacement for your robot. By connecting to the simulator instead of a real
robot, you can test Colbert programs, maps, and so on, when the real robot isn’t
practical or available.
AMIGOSOUNDS is for AmigoBot only. With AmigoSounds, you assemble recorded sounds
stored on your PC’s disk into a playlist of sounds for your AmigoBot. With AmigoSounds,
you may give AmigoBot different audio-based personalities.
ARIA
The ActivMedia Robotics Interface for Applications (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 ActivMedia robot’s microcontroller and
accessory systems, such as the ARIA Speech Recognition and Synthesis Package for your
Performance PeopleBot’s sound system.
ARIA is the ideal platform for integration of your own robot-control software, since it
neatly handles the lowest-level details of client-server interactions, including serial
7

communications, command and server-information packet processing, cycle timing,
and multithreading, as well as a variety of accessory controls, such as for the PTZ robotic
camera, the PeopleBot Gripper, scanning laser-range finder, motion gyros, among many
others.
What’s more, it comes with source code so that you may examine the software and
modify it for your own sensors and applications.
Saphira
Figure 5. ACTS extracts color blobs from a
video frame and sends localizing information
to the client for tracking.
Saphira, including the Colbert language, is a full-featured robotics control environment
developed at SRI International’s Artificial Intelligence Center. Saphira and its ARIA
foundation form the robotics-control and applications-development foundation for
much of the ActivMedia Robotics Basic Suite and many other ventures. The complete,
licensed Saphira robotics development environment, including C/C++ libraries, GUI
interface and Simulator, comes
bundled with your ActivMedia robot.
ACTS
ActivMedia Robotics’ Color Tracking
System (ACTS) is a GUI program that
works with your color camera and
video framegrabbing hardware to
identify and track colored objects in
its field of vision. The software comes
with your Performance PeopleBot’s
vision system and interfaces with your
robot-control client software. Please
consult the ACTS Manual for
operation and programming details.
Laser Navigation and Localization
A separate Laser Navigation and
Localization package is available as a Saphira add-on. It is a comprehensive suite of
software tools and applications by which, with your laser-scanning/range-finder enabled
robot, you automatically create, edit, and use maps and floorplans for advanced
robotics applications including localization and gradient navigation.
THE PIONEER LEGACY
Commercially introduced in the summer of 1995, Pioneer 1 is the original platform. It
came with a single-board 68HC11-based robot microcontroller and the Pioneer Server
Operating System (PSOS) software. 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.
Pioneer 1 and AT
Intended mostly for indoor use on hard, flat surfaces, the Pioneer 1 has solid rubber tires
and a two-wheel differential, reversible drive system with a rear caster for balance. The
Pioneer 1 came standard with seven sonar range finders (two side-facing and five
forward-facing) and integrated wheel encoders.
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 its
8

ActivMedia Robotics
open architecture became the popular platform for the development of a variety of
alternative robotics software environments.
Many developers created software that interfaced directly with PSOS. Others extended
the capabilities of Saphira (PAI and P-LOGO are two good examples), while others have
implemented alternative robotics-control architectures, such as the subsumption-like
Ayllu.
Functionally and programmatically identical to the Pioneer 1, the four-wheel drive, skid-
steering Pioneer AT was introduced in the Summer of 1997 for operation in uneven indoor
and outdoor environments, including loose, rough terrain.
Except for the drive system, there are virtually no operational differences between the
Pioneer AT and the Pioneer 1: The integrated sonar arrays and microcontrollers are the
same. The accessories available for the Pioneer 1 also work with the Pioneer AT. Further,
applications developed for the Pioneer 1 work with little or no porting to the Pioneer 2s.
Pioneer 2 and PeopleBot
The next generation of Pioneer mobile robots—including the Pioneer 2-DX, -CE, and -AT,
introduced in the fall of 1998 through summer of 1999, improved upon the Pioneer 1
legacy while retaining its many important advantages.5Indeed, in most respects,
particularly with applications software, Pioneer 2 works identically to Pioneer 1 models.
The ActivMedia Robotics Pioneer 2 models DX, DE, DXe, DXf, and AT, and the V1 and
original Performance PeopleBot robots use a high-performance 20-MHz Siemens 88C166-
based microcontroller, with independent motor/ power and sonar-controller boards for a
versatile operating environment. The microcontroller has two RS232-standard
communications ports and an expansion bus to support the many accessories available
for your ActivMedia robot, as well as your own custom attachments.
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, are two-wheel,
differential-drive mobile robots. The DXe and DXf models have pneumatic tires for more
robust and versatile mobility, as well as improved payload, than the solid tires of the DX
and CE. And they have a hinged top plate for easier access to the internal systems.
The four-wheel drive Pioneer 2-AT has independent motor drivers. Unlike its Pioneer AT
predecessor, the Pioneer 2-AT comes 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. The newest version of the 2-AT, introduced in mid-2001, includes an integrated
joystick port for manual operation and a hinged top-plate for easier access to the
internal systems.
Other Pioneer 2-like robots include the 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.
New Performance PeopleBot Plus
A newer, lower-profile version of the Performance PeopleBot appeared in the summer of
2002. The latest version with the Plus motor enhancements appeared in early 2003. Both
are nearly identical robots and, therefore, are included together in this manual. In fact,
5Price/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.
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we’ll use the Plus moniker only when we need to highlight a difference between them.
Both sport the new microcontroller based on the Hitachi H8S microprocessor with new
control systems and I/O expansion capabilities. Only the Plus has the new enhanced
motor-power board and systems.
Software-wise, the Performance PeopleBots are upwardly compatible with all other
ActivMedia robots, including Pioneer 2. The new ActivMedia Robotics Operating System
(AROS) software extends—but does not replace—the original PSOS and P2OS. This
means that even programs that interface at the lowest communication levels will work
with all ActivMedia robot platforms. This also means that the higher level clients and
applications, including Saphira, ARIA, Basic Suite, and others including your own
software, will work with AROS and any host ActivMedia robot just as they had worked
with PSOS or P2OS.6Of course, you will have to extend your client software in order to
take full advantage of AROS.
To the relief of those who have invested years in developing software for Pioneer 1 and
Pioneer 2, the Performance PeopleBot truly does combine the best of the new mobile
robot technologies with the tried-and-true Pioneer architecture.
MODES OF OPERATION
You may operate your Performance PeopleBot in one of five modes:
 Server
 Joydrive
 Self-test
 Maintenance
 Standalone
Server Mode
The H8S microcontroller comes with fully programmable 128K FLASH and 32K dynamic
RAM included in its Hitachi 18-MHz H8S/2357 microprocessor. An additional 512K of
dynamic RAM or FLASH-ROM is available as optional equipment. But we don't
recommend that you start learning H8S programming. Rather, the robot comes to you
installed with the latest AROS robotics server software.
In conjunction with client software, such as ARIA, Saphira, or ActivMedia Basic Suite
Navigator running on an onboard or other user-supplied computer, AROS lets you take
advantage of modern client-server and robot-control technologies to perform
advanced robot tasks.
Most users operate their ActivMedia robot 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 microcontroller-level operation of your robot’s functions, you may
reprogram the onboard FLASH for direct and standalone operation of your ActivMedia
robot. We supply the means to download, but not the microcontroller's programming
software, for you to work in standalone mode.
The utilities we provide for you to reprogram the H8S-based microcontroller's FLASH also
may be used to update and upgrade your robot’s AROS. In a special Maintenance
Mode, you also adjust your robot’s operating parameters that AROS uses as default
6The two-time gold medal winners of the International RoboCup robot soccer competition used Pioneer 1s one
year and quickly converted to Pioneer 2s in the next year.
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ActivMedia Robotics
values on startup or reset. See Chapter 7, Updating & Reconfiguring AROS, for much
more detail.
We typically provide the maintenance utilities and AROS upgrades free for download
from our http://robots.activmedia.com website, so be sure to sign up for the pioneer-
users email newslist. That's where we notify our customers of the upgrades, as well as
where we provide access to ActivMedia robot users worldwide.
Joydrive and Self Test Modes
Finally, we provide onboard software and microcontroller hardware that lets you drive
the robot from a tethered joystick when not otherwise connected with a controlling
client. And we provide some self-test programs that exercise your robot’s hardware and
software. We examine these modes in some detail in Chapter 5, Joydrive and Self-Tests.
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Specifications and Controls
Specifications & ControlsChapter 3
Performance PeopleBot is for human-robot interaction studies and applications.
Accordingly, it’s tall (111.5 cm) relative to other ActivMedia robots, with an adult people-
height upper deck for sensing and interaction accessories, including ranging sonar, a
pan-tilt-zoom robotic color camera, speakers, and microphones. In spite of its height,
however, Performance PeopleBot, like comparable Pioneer mobile robots, has a small
footprint and turn radius, and it is lightweight (29 kg with three batteries).
Integrated breakbeam and
table-sensing fixed-range IRs, as
well as 360-degree sonar
coverage top and bottom, a
highly visible and accessible
Emergency STOP button which
unconditionally stops the robot
from moving, and sensitive
bumpers protect the robot and
the people and things around it.
Figure 6. Performance PeopleBot features and
accessories
In addition, a Gripper accessory
let’s you manipulate table-
height objects. The optional
laser-range finder accessory not
only enhances the platform’s
ability to finely sense people
and objects, but with special
mapping and navigation
software, turns your robot into a
fully autonomous machine.
Accordingly, Performance
PeopleBot’s physical dimensions
and onboard systems lend
themselves very well to
intelligent navigation and
interactions within tight quarters
and cluttered spaces with
people, including children.
MAIN COMPONENTS
The Performance PeopleBot is composed of several main parts:
 Struts and Decks
 Body and Nose
 Batteries and Power
 Motors, Wheels, and Position Encoders
 Sonar Arrays with Gain Adjustments
 Protective IRs, Bumpers, and Emergency STOP
 Gripper
 User Control Panel
 Integrated PC
 Radio Ethernet
 Color PTZ Camera
 Sound System
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ActivMedia Robotics
STRUTS AND DECKS
Performance PeopleBot’s decks are simply the flat surfaces top and bottom for mounting
projects and accessories, such as the laser range finder. A feed-through hole in the
center of the top plate, and a rectangular one beneath a removable plug in the middle
of the bottom deck let you conveniently route cables to the interior of the robot.
Two side struts carry the upper deck. The left strut acts as a power and signal wiring
conduit to the A/V transmitter, control panels, and to the upper deck of the robot. The
right strut hosts the Gripper accessory. On the left strut, too, are the Emergency STOP
button and the Computer, A/V, and User Control Panel.
The top deck carries a front sonar array, PTZ robotic camera (mounted underneath),
microphones, and the Ethernet radio antenna.
When mounting additional accessories, you should try to center the robot's payload over
the drive wheels. If you must add a heavy accessory to the edge of the deck,
counterbalance the weight with a heavy object on the opposite end. A full
complement of batteries balances the robot, too.
See Chapter 8, Maintenance & Repair, for access details.
Figure 7. Performance PeopleBot dimensions and turn radius
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Specifications and Controls
BODY AND NOSE
Your Performance PeopleBot’s sturdy, but lightweight aluminum body houses the
batteries, drive motors, electronics, and other common components, including front and
rear sonar arrays. The body also has sufficient room, with power and signal connectors,
to support a variety of robotics accessories, including the onboard PC, radio Ethernet,
and more.
A hinged rear door gives you easy access to the batteries, which you may quickly hot-
swap to refresh any of the up to three batteries. On the rear panel, too, is the Main
Power switch and battery recharge port.
The nose is where we put the onboard PC. The nose is readily removable for access to
internal components: Simply remove three screws from underneath the front sonar array
and pull the nose away from the body. It’s hinged at the bottom. This provides a quick
and easy way to get to the accessory boards and disk drive of the onboard PC, as well
as to the sonar gain adjustment for the front sonar array.
BATTERIES AND POWER
For best stability and run-times, your Performance PeopleBot should contain three
batteries which are accessible though a hinged and latched back door. They are hot-
swappable, seven ampere-hour, 12 volts direct-current (VDC) sealed lead/acid batteries
(total of 252 watt-hours). We provide a suction cup tool to help grab and slide each
battery out of its bay. Spring contacts on the robot’s battery power board alleviate the
need for manually attaching and detaching power cables or connectors.
Balance the batteries in your robot.
Battery life, of course, depends on the configuration of accessories and motor activity.
Your Performance PeopleBot runs continuously for four hours or more with onboard
computer. When hot-swapping, remove and replace one at a time.
IMPORTANT: Batteries have a significant impact on the balance and operation of your
robot. Under most conditions, we recommend operating with three batteries.
The User Control Panel on the left strut has a bi-color LED labeled BATTERY that visually
indicates current battery voltage. The control panel’s buzzer also sounds a repetitive
alarm if the battery voltage drops consistently below the FLASH LowBattery level (see
below). If the battery voltage drops below 11 volts, the microcontroller watchdog server
automatically shuts down a client connection and notifies the onboard PC, via the
SERIAL RI pin, to shut down, thereby preventing data loss or systems corruption due to
low batteries.
Typical battery recharge time using the recommended accessory (800 mA) charger
varies according to the discharge state; it is roughly equal to three hours per volt per
battery. The Power Cube™ accessory allows simultaneous recharge of three
swappable batteries outside the robot.
Greatly reduce recharging time with the optional high-speed charger (4A maximum
current). It also supplies sufficient current to continuously operate the onboard
accessories, including the onboard PC and radios. But with the higher-current charger,
care must be taken to charge at least two batteries at once. A single battery may
overcharge and thereby damage both itself and the robot.
Both recommended chargers are specifically designed for optimal and safe lead-acid
battery recharging. Indicators on the module’s face show fast-charge mode (typically
an orange LED) in which the discharged batteries are given the maximal current, and
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