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CPU:
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Motorola MC68332 32-bit microcontroller
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RAM:
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1 MByte
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ROM:
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64K Bytes
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LCD display:
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2 x 16 characters
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Sensors:
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13 IR sensors
8 ultrasonic sensors
1 CCD camera
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Behavior-based vision system:
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V3 vision processor (TMS320C6202GJL-200 by Texas Instruments) is used. Maximum frame accuracy:
720 x 480. Processing speed of basic affordance: 15 ~ 40 frames/second. User's other processor can be
added on board.
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Battery:
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2 x 12 V 55 Ah sealed lead-acid batteries
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Safety:
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2 kill switches, joystick, basic collision avoidance behavior
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User I/O ports:
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6 analog to digital
6 digital input
8 digital output
1 serial port
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Language:
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C language (GNU-C language compiler, TMS320C6200 compiler)
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Chair:
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Length: 100.3 cm (39.5 inches)
Width: 64.5 cm (25.4 inches)
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Tires:
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35.6 cm (14 inches) drive wheels
20.3 cm (8 inches) rear casters
15.2 cm (6 inches) anti-tip wheels
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Weight Capacity:
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138 kg (300 lbs) maximum
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Maximum Speed:
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4.5 mph (8 kph)
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Ground Clearance:
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8.9 cm (3.5 inches)
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Turning radius:
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49.5 cm (19.5 inches)
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Run time:
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28 km (on flat surface)
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Video Clip - TAO-1 is running autonomously in the office
Windows Media Player (1.4 MB)
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