Hardware
RobotOperating
SystemVíctor Mayoral Vilches
CTO and Founder, Erle Robotics

TheErleRobotics
pathEmpoweringROSHardware

Why?
“Most of the time is spent dealing with the hardware/software interfaces and little is put into behavior
development or real-world scenarios.”

Right time?

Robotics
Fast
Track
Program(RFT)Hardware
RobotOperating
System

A standardized software and hardware
infrastructure to easily create reusable andreconfigurable robot hardware parts.
Using H-ROS, building robots is about placing H-ROS-compatible
components together to build new robot configurations. Theinteresting fact about this is that constructing robots is not any
more restricted to a few high technical skills but it's extended to agreat majority with a general understanding of the different HROS parts and its use.

Interoperable
By facilitating standardized abstractions based in ROS, H-ROS
compatible components are able to communicate and exchange
data seamlessly, regardless of the manufacturer. This will help
creating an environment of compatible robot components whereparts from different manufacturers are literally interchangeable.

AT-ST

Simple.
Easy.
Powerful.
Power over Ethernet (PoE), IEEE 802.3at-2009 (alsoknown as PoE+). Particularly, mode B which delivers
power on the spare pairs of 100BASE-TX.

This configuration provides 25.5 W of power to each HROS part connected through PoE using the RJ45connector.

Reconfigurable
Our team extended the existing Unified Robot Description Format(URDF) to support dynamic changes and recreate the internal
robot model based on a predefined set of routines.

BuiltwithROS
2.0
The future framework for robot application
development. Following from ROS, ROS 2.0 willdefine the next decade in robotics by providing
solutions for problems like teams of multiple
robots, small embedded platforms, real-timesystems, non-ideal networks or production
environments.

Plug and play
Combine H-ROS components
together to build new robots. Create,
extend and repair robots easily.

Interoperable and distributed
Distributed hardware componentsthat speak to each other regardlessof the manufacturer.

Smart
Each components reports
information that helps our robots
become smarter (inertial position,voltage, current, …)Standard
Robot
Components

sensing
actuationcommunication
cognitionhybrid

Blocksforrobots

Sensing
components
for robots

H-ROS sensing components help robots perceive its
environment and share information with the rest of theparts through standardized ROS interfaces.

Actuation
components
for robots

H-ROS actuation components allow robots to interact with its
environment and produce some form of change throughsubscription and/or connection to standardized ROS interfaces.

Communication
components forrobots

H-ROS communication components are specialized incommunication by either exposing new communication
channels to the overall ROS network (e.g.: 4G, WiFi) orby providing means of interconnection between different
H-ROS components.

Cognitioncomponents
for robots

Cognition H-ROS components are specialized in computationand coordination. These parts perform most of thecomputationally expensive tasks within the robot such asreasoning, planning and/or reconfiguration.

Hybridcomponents
for robots

Hybrid H-ROS components are composed of different
sub-elements, that are generally not fully understoodwithin any of the other types and/or correspond with subrobots (parts of other robots). These components aregrouped under an abstraction layer that enables them tointeroperate directly with other H-ROS devices bycomplying with existing ROS abstractions.

TheH-ROS
workflow

Step 1: pickyourH-ROScomponents
Select the H-ROS components necessary to build yourrobot regardless of their size or manufacturer. They should
all interoperate.

Step 2:
code withROS
We don’t want you to learn a newframework. Just use the tools that you
know best and code amazing behaviour
with ROS nodes, topics, and the rest ofthe abstractions.

Step 3:
deploy andtest locallyStep 4:
ship theintelligenceto therobot

H-ROSTurtlebotCall for
manufacturers감사습니다
(thank you)
http://h-ros.com