AD-R1M Specifications
Software & Middleware
ROS 2 Enabled for:
Navigation
Motion Control
Sensor Integration
Battery Management
Modular ROS 2 Nodes for:
Localization
Navigation
Motion
BMS
Compatible with ROS 2 Humble Distribution
Zephyr Support for embedded firmware on motor, navigation, and BMS boards
CAN communication between platforms
Hardware Components
Processing Units
Raspberry Pi 5 (with ADI Kuiper2)
NVIDIA Jetson AGX Orin
Motor & Motion Control
Motor Drivers with Encoder Feedback
Motor Control Board with Zephyr Firmware
Power Management
Battery Management System board variants (BMS):
3S BMS with Zephyr Firmware, or
12S BMS with Zephyr Firmware
Power Management for Mobile Operation
Sensor Suite
ADI IMU (ADIS16470) for Localization
ADI Time-of-Flight Camera (ADTF3175D) for Perception
Intel RealSense Camera (optional)
Connectivity
USB-to-CAN Adapter
Ethernet and Wi-Fi Interfaces
Mechanical Specifications
Parameter |
Value |
Notes |
|---|---|---|
Dimensions (L × W × H) |
585 mm × 360 mm × 150 mm |
Chassis only, without payload |
Weight (base configuration) |
~10 kg |
With battery (chassis mass) |
Payload Capacity |
TBD kg |
Maximum recommended |
Wheel Diameter |
100 mm |
Drive wheels |
Wheel Width |
25 mm |
Drive wheels |
Wheel Track (Base Width) |
220 mm |
Center-to-center |
Caster Wheel Diameter |
50 mm |
4× caster wheels |
Ground Clearance |
30 mm |
At caster wheels |
Electrical Specifications
Parameter |
Value |
Notes |
|---|---|---|
Battery Voltage |
11.1V (3S) / 44.4V (12S) |
Nominal |
Battery Capacity |
TBD Ah |
|
Operating Time |
TBD hours |
Typical use |
Motor Power |
TBD W |
Per motor |
CAN Bus Speed |
500 kbps |
Performance Specifications
Parameter |
Value |
Notes |
|---|---|---|
Maximum Speed |
TBD m/s |
Configurable via ROS 2 velocity smoother nodes |
Maximum Angular Velocity |
TBD rad/s |
Configurable via ROS 2 velocity smoother nodes |
Localization Accuracy |
TBD cm |
With IMU + wheel odometry |
ToF Camera Range |
0.4 - 5.0 m |
ADTF3175D |
ToF Camera FOV |
75° horizontal |
±37.5° (0.654 rad) |
ToF Camera Resolution |
512 × 512 px |
Depth image |
IMU Sampling Frequency |
200 Hz (default) / 2000 Hz (max) |
ADIS16470 configurable via IIO |
IMU Dimensions |
15 × 10 × 10 mm |
ADIS16470 module |