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TurtleBot3
turtlebot3

Specifications

Hardware Specifications

Items Burger Waffle (Discontinued) Waffle Pi
Maximum translational velocity 0.22 m/s 0.26 m/s 0.26 m/s
Maximum rotational velocity 2.84 rad/s (162.72 deg/s) 1.82 rad/s (104.27 deg/s) 1.82 rad/s (104.27 deg/s)
Maximum payload 15kg 30kg 30kg
Size (L x W x H) 138mm x 178mm x 192mm 281mm x 306mm x 141mm 281mm x 306mm x 141mm
Weight (+ SBC + Battery + Sensors) 1kg 1.8kg 1.8kg
Threshold of climbing 10 mm or lower 10 mm or lower 10 mm or lower
Expected operating time 2h 30m 2h 2h
Expected charging time 2h 30m 2h 30m 2h 30m
SBC (Single Board Computers) Raspberry Pi 3 Model B Intel® Joule™ 570x Raspberry Pi 3 Model B
MCU 32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS) 32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS) 32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS)
Remote Controller - - RC-100B + BT-410 Set (Bluetooth 4, BLE)
Actuator Dynamixel XL430-W250 Dynamixel XM430-W210 Dynamixel XM430-W210
LDS(Laser Distance Sensor) 360 Laser Distance Sensor LDS-01 360 Laser Distance Sensor LDS-01 360 Laser Distance Sensor LDS-01
Camera - Intel® Realsense™ R200 Raspberry Pi Camera Module v2.1
IMU Gyroscope 3 Axis
Accelerometer 3 Axis
Magnetometer 3 Axis
Gyroscope 3 Axis
Accelerometer 3 Axis
Magnetometer 3 Axis
Gyroscope 3 Axis
Accelerometer 3 Axis
Magnetometer 3 Axis
Power connectors 3.3V / 800mA
5V / 4A
12V / 1A
3.3V / 800mA
5V / 4A
12V / 1A
3.3V / 800mA
5V / 4A
12V / 1A
Expansion pins GPIO 18 pins
Arduino 32 pin
GPIO 18 pins
Arduino 32 pin
GPIO 18 pins
Arduino 32 pin
Peripheral UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4 UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4 UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4
Dynamixel ports RS485 x 3, TTL x 3 RS485 x 3, TTL x 3 RS485 x 3, TTL x 3
Audio Several programmable beep sequences Several programmable beep sequences Several programmable beep sequences
Programmable LEDs User LED x 4 User LED x 4 User LED x 4
Status LEDs Board status LED x 1
Arduino LED x 1
Power LED x 1
Board status LED x 1
Arduino LED x 1
Power LED x 1
Board status LED x 1
Arduino LED x 1
Power LED x 1
Buttons and Switches Push buttons x 2, Reset button x 1, Dip switch x 2 Push buttons x 2, Reset button x 1, Dip switch x 2 Push buttons x 2, Reset button x 1, Dip switch x 2
Battery Lithium polymer 11.1V 1800mAh / 19.98Wh 5C Lithium polymer 11.1V 1800mAh / 19.98Wh 5C Lithium polymer 11.1V 1800mAh / 19.98Wh 5C
PC connection USB USB USB
Firmware upgrade via USB / via JTAG via USB / via JTAG via USB / via JTAG
Power adapter (SMPS) Input : 100-240V, AC 50/60Hz, 1.5A @max
Output : 12V DC, 5A
Input : 100-240V, AC 50/60Hz, 1.5A @max
Output : 12V DC, 5A
Input : 100-240V, AC 50/60Hz, 1.5A @max
Output : 12V DC, 5A

Dimension and Mass

Data of TurtleBot3 Burger

Data of TurtleBot3 Waffle

Data of TurtleBot3 Waffle Pi

Components

SBCs

Sensors

Embedded Board

  • OpenCR1.0
    • TurtleBot3 Burger, Waffle, Waffle Pi

Actuators