One mobile bimanual robot

The robot is designed for performing agronomic operations (harvesting and pruning) in outdoor environments. It is based on a commercial mobile base platform manufactured by Alitrak Srl and a dual arm system manufactured by Pal Robotics

The robot features are:

  • Two 7 DOF arms
  • Two grippers one for harvesting and one for pruning
  • Height: 1.10m to 1.60m
  • Max speed: 2 m/s (78.8 in/s)
  • 3D laser scanner
  • 3 RGBD cameras
  • intel i8 CPU, 64GB RAM
  • Storage: 512GB SSD
  • Open API (Windows, Linux, ROS)

Two Kinova MOVO

The Kinova MOVO is designed to aid researchers by enabling them to discover innovative approaches and applications for mobile manipulation. MOVO has been fully designed and developed using the Robot Operating System (ROS), along with MoveIt! and Gazebo, and offers an application programming interface (API) that will provide researchers the most advanced functionality in all areas of robotics.

The robot features are:

  • Two Jaco2 7 DOF arms
  • Two grippers with 3 fingers
  • Height: 1.11m to 1.60m
  • Max speed: 2 m/s (78.8 in/s)
  • 2D planar scanner
  • 3D camera
  • intel i7 CPU, 16GB RAM
  • Storage: 128GB SSD
  • Open API (Windows, Linux, ROS)

Kinova JACO2 Robot Manipulator

The robot Jaco2 from Kinova is a 7 DOF arm with unlimited rotation on each axis. Its axes integrate a complete sensor package in each joint:

  • Torque
  • Position
  • Current
  • Acceleration
  • Temperature

The gripper consists of 3 underactuated fingers that can be individually controlled. The robot features are:

  • Weight: 5 Kg
  • Payload: 1,25 Kg mid-range
  • Payload: 750 g full extension
  • Reach: 700 mm
  • Harmonic Drive gear system
  • Ambient temperature: -10° to 40° expected
  • Water resistance: IPX2 expected
  • Redundant security on each axis/fingers
  • Redundant error check in joints and in control system
  • Motor type: Brushless DC motor
  • Open API (Windows, Linux, ROS)


The vehicle is a crawler carrier featuring crawlers with special tread design. Equipped with two powerful motors, it can turn on itself on flat surfaces and has been designed to meet the most challenging ground conditions and to easily climb the stairs. The driving system employed in the vehicle is the radio remote control, which ensures the highest safety standards. It is possible to install the hydraulic pump for the management of the skip tipping and of other accessories.

  • Loading capacity: 600 kg
  • Max gradient: 57%
  • Max lateral gradient: 37%
  • Reverse speed: fast 3,2 Km/h – slow 1,6 Km/h
  • Electric motor: 2 x 48V/1500 watt PMAC S2 90 min
  • Battery recharge: Approx. 8 hours
  • AGM battery: 4 x 12V/115Ah C20
  • Length: 1540 mm
  • Width: 822 mm
  • Height: 400 mm
  • Weight: 463 kg

Niryo One

Niryo One is a 6-axis robotic arm compatible with Arduino, Raspberry Pi and ROS. Manufactured in France, it is designed for research and teaching, and intended for students, professors, researchers and designers looking for an accessible robotic arm. It is possible to add different accessories as well as to design and 3D print custom tools.

The robot technical specifications are:

  • Degrees of freedom: 6
  • Weight: 3.3 kg
  • Reach: 440 mm
  • Base angle: +/- 175 °
  • Repeatability: +/- 1 mm
  • Power source: 11, 1V/6A
  • Communication: WIFI Ethernet: 2.4 GHz Range 802.11n / Ethernet
  • WIFI: 2.4 GHz Range 802.11n / Bluetooth 4.1: 2.4 GHz; 2.5 mW (4 dBm) / USB
  • Interface/Programming: Windows/MacOS/Linux (desktop application), Gamepad, APIs
  • Power consumption: ~ 60 W
  • Materials: Aluminium, PLA (3D printing)
  • Ports: 1 Ethernet + 4 USB
  • Electronics: Raspberry pi 3 / + 3 x NiryoSteppers / + 2 x Dynamixel XL – 430 / + 1 x Dynamixel XL – 320
  • Collision detection sensor: Magnetic sensor (on motor)

The gripper features are:

  • Weight: 70 g
  • Length (gripper closed): 80 mm
  • Max opening width: 27 mm
  • Picking distance from end effector base: 60 mm

Asctec Pelican

The AscTec Pelican is a quadrotor aerial vehicle. It is equipped with a high performance onboard processors, and a wide set of sensors: 3 accelerometers, 3 gyroscopes, 3 magnetometer, GPS receiver, 3 high quality cameras and a precise laser scanners. It is programmable via AscTec SDK and AscTec Simulink toolkit. All in all this flight system is the most flexible and powerful of the Ascending Tecnologies fleet.

Team of Khepera III

The team is composed by 5 Khepera III mobile robots and a base station. Each robot and the base station have on-board a Korebot II board with a basic linux os that allows to execute autonomous navigation algorithms. The default equipment of the robots is composed by several infrared sensors, 5 sonar and a wifi communication device. Moreover, depending on the specific mission, the robots can be equipped with on-board usb webcam, or with an Hokuyo URG Laser Scanner. The robots are used to test decentralized control algorithms for multi-robot systems.


Team of Khepera II

The team is composed by 7 khepera II mobile robots manufactured by K-Team. Each robot has a unicycle-like kinematic structure and some infrared sensors. Each robot has an on-board processor to run simple control algorithm and a bluetooth radio turrets to communicate with a remote unit. The robots are controlled by a linux-based remote unit that uses robots’ positioning information (received from Windows-based vision system) to run the control algorithm, and to generate the velocity commands to the robots’ wheels. The team has been widely used to test control algorithm for multi-robot systems, e.g., to achieve formation control, entrapping/escorting of autonomous targets, flocking, keeping a MANET communication network.

Magellan Pro

The Magellan pro is mobile robot with a unicycle-like kinematics that has been used for the development of autonomous navigation techniques. The robot is equipped with:

  • mother-board with o.s. Linux
  • GPS
  • Digital compass
  • on board bw camera
  • 16 sonar
  • 16 infrared
  • 16 bumpers
  • wifi connection

Kit Lego Mindstorm

The Lego Mindstorm Kit has been used for didactic purposes. In particular the kits have been used to allow high-school students to assemble an autonomous vehicles and to develop a basic control algorithm to make the robot following a black path on the ground.