Uranus is a mobile robot used for developing 3D mapping and sensing. The mobile base provides 3DOF motion by utilizing a novel set of wheels that can move the robot along any path and any orientation along that path. Each wheel is individually controlled by a brushless DC servo motor. The chassis has two levels; the lowest has mechanics and onboard lead-acid gel cell batteries, and the upper level houses computing and electronics. Above the second level is a baseplate with a regular grid of threaded holes to provide for placement of many sensors, additional computing etc for specific experiments.
Uranus has undergone several upgrades to feedback, motion controllers, computing, power systems, and mechanism over the years. The current system uses resolvers for feedback and commutation at each wheel, onboard small motor controllers, linked to a VME cage with motion control card, computing, and net access.
Uranus is still in use and primarily uses a multi-baseline stereo set-up.