Hardware Specifications

Analog I/O
- 16 x 12-bit unipolar analog inputs
Digital I/O
- 32 x 12V binary inputs/outputs
Motor Control
- 8 x 24V DC motor outputs
- limit switches can selectively be enabled for each channel
- encoder inputs for PID motion control for each channel
- capable of 75W per channel - 150W for all
Main Processor
- 1.4Ghz Pentium M processor
- Debian Linux
- 512MB RAM
- 3 x USB 2.0
- RS-232
- 1Gb ethernet or 802.11g
- Audio output
Runs on Player and can use the following capabilities:
- 2D mobile robot simulator (Stage)
- 3D mobile robot simulator (Gazebo)
- Player's localization and navigaton software
- Marvin is currently capable of using all its I/O through Player architecture

MARVIN explosion

MARVIN is designed to be easily reconfigured. Using standard profiles and plates, the configurtion of the platform can be easily adapted to every task. If one module does not satisfy the requests, it is possible to change it witout rebuilding the whle strucutre of the platform. The central module that can be seen as the body of the platform is the CPU module that includes the computer for the management of motors and sensors. Tte system is initially configured with three wheels. Two actuated wheels are provided by wheel modules and a third passive wheel is assembled in the OD-wheel module

Assembly