Equipment
Open Connected and Automated Vehicle (OpenCAV) is a full-scale autonomous vehicle housed at the Clemson University International Center for Automotive Research (CU-ICAR).
The vehicle itself is a 2018 Chrysler Pacifica retrofitted with a modular sensor suite, comprising of a stand-alone, dual-antenna GNSS and MEMS grade inertial measurement unit, 2 HD cameras of different focal length, an electronically scanning RADAR and a 32-beam 3D LIDAR. The vehicle employs a rugged GPU computing edge AI platform for on-board computation and hosts a 23 TB on-board data storage equipment. It is connected to the outer world through a dedicated Cradlepoint network. All the vehicle data is accessible over CAN bus connected to the ECU, which can be used for developing, testing and debugging autonomy algorithms. Lastly, the vehicle hosts a drive-by-wire system capable of controlling the steering, throttle, brakes and gear-shift, along with auxiliary components such as lights, doors and wipers.
The autonomy stack of OpenCAV is developed on top of Autoware.AI, which runs on Ubuntu 18.04, with ROS Melodic as a middleware framework. This facilitates continuous development and integration of autonomy modules such as mapping, perception, localization, motion planning and control.
[Overview Video] [Digital Twin Video] [Variability Testing Video] [NVIDIA GTC Video]
AutoDRIVE is a completely open-source, comprehensive, flexible and integrated digital-twin ecosystem for synergistically developing (AutoDRIVE Devkit), simulating (AutoDRIVE Simulator) and deploying (AutoDRIVE Testbed) bleeding-edge solutions targeted towards autonomous driving, while also supporting smart-city infrastructure.
F1TENTH is a 1:10 scale autonomous racecar platform that can reach a top speed of 50 mph with a mission to foster interest, excitement, and critical thinking about the increasingly ubiquitous field of autonomous systems with four pillars - build, learn, race and research.
The Quanser QCar is an open-architecture, scaled model vehicle designed for academic research. Working individually or in a fleet, QCar is the ideal vehicle for validating dataset generation, mapping, navigation, machine learning, artificial intelligence, and other advanced self-driving concepts.
TurtleBot is a ROS standard platform robot. TurtleBot3 is a small, affordable, programmable, ROS-based mobile robot for use in education, research, hobby, and product prototyping.
The Top Kart EV Electric chassis is a premier kart racing chassis package with an electric engine, and having battery packs on either side of the kart. This chassis can handle true kart racing dynamics and allows for high and low level tuning adjustments.
Husky is a medium sized robotic development platform. Its large payload capacity and power systems accommodate an extensive variety of payloads, customized to meet research needs. Its rugged construction and high-torque drivetrain can take your research where no other robot can go.
The AgileX HUNTER SE is an Ackerman steered drive-by-wire chassis designed for the challenging road conditions and speed requirements. It features an ultra-compact design with the cutting-edge speed of 4.8m/s. Based on modular design and standard CAN interface, users can expand horizons to autonomous driving solutions.
The Unitree Go1 is a versatile and agile quadruped robot designed for various applications. With its sleek and compact design, the Go1 combines advanced robotics technology with exceptional mobility. It features multiple GPUs for advanced AI applications, a top speed of 4.7 m/s and a payload capacity of 10 kg.
The Quanser QBot 2e is an innovative open-architecture autonomous ground robot, equipped with built-in sensors, and a vision system. The open-architecture control structure allows users to add other off-the-shelf sensors and customize the QBot 2e for their research needs.
The ROS based KUKA youBot is a research and educational omnidirectional mobile platform with a five-axis manipulator. This makes it an ideal platform for developing applications in service robotics.
Hexapod
The Hexapod is a six degrees of freedom parallel robotic motion platform capable of moving heavy loads (up to 250 kg) at high acceleration.
The Geomagic Touch (formerly Sensable Phantom Omni) is the industry's most widely deployed professional haptic device. Used in research, 3D modeling, OEM applications and more, Touch allows users to easily maneuver mechanical components to produce higher quality designs.
The Robotiq 2F-85 is an adaptive two-finger robotic gripper with 85 mm stroke, for collaborative robots. Its patented finger design enables both internal and external parallel gripping, as well as a unique encompassing grip mode.
The OnRobot 3FG15 is a flexible, large-stroke, three-finger robotic gripper. It facilitates accurate centric positioning, strong, stable grip with 3 contact points, and customizable fingertips, which makes it adaptable to grip a wide range of part sizes and shapes.
MTw Awinda is an easy to integrate wireless human motion tracker for real-time applications. The patented Awinda protocol ensures highly accurate time-synchronized data sampling (within 10 μs) in all connected MTw’s, which is essential for accurate joint angles.
The Shadow system includes 17 precision inertial measurement units. Each sensor module takes high speed measurements to capture user's movement and pose. The measurements are synced and collected every 10 milliseconds by the wireless controller and streamed back to user's device.
HD2 Haptic Device
The High Definition Haptic Device is a high-fidelity six Degrees of Freedom (DOF) haptic interface for advanced research in haptics and robotics.
Kinect (codenamed in development as Project Natal) is a line of motion sensing input devices by Microsoft for Xbox 360 and Xbox Onevideo game consoles and Windows PCs.
Nao is an autonomous, programmable humanoid robot.
Motion capture systems and software for 3D animation, biomechanics, virtual reality, computer vision, engineering and more.
Quadrotor helicopter, quadrotor, is a multirotor helicopter that is lifted and propelled by four rotors.
We propose a novel planar reconfigurable omnidirectional articulated wheeled mobile robot (ROAMeR). This robot distinguishes from existing planar mobile robot by having capability to change the location of all the caster wheels.
The ROS based daVinci Research Kit (dVRK) robot has been provided by Intuitive Surgical. It consists of a surgeon's console for the surgeon to tele-operate the surgery and a patient side console where the actual surgery takes place.
Sphero is a completely new type of game system. It's the world's first robotic ball that you control with a tilt, touch, or swing from your smartphone or tablet. You can drive Sphero, play tabletop and multiplayer games, use Sphero as a handheld controller for on-screen gameplay, learn basic programming, and even play augmented reality games.
The Wii Balance Board is a balance board accessory for the Wii and Wii U video game consoles. Along with Wii Fit, it was introduced on July 11, 2007 at the Electronic Entertainment Expo.