TIAGo

PAL Robotics

Spain

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TIAGo is PAL Robotics' modular mobile manipulator, introduced in 2015 and still the company's most widely used research platform, with over nine years on the market. It combines perception, navigation, manipulation and human-robot interaction in a configurable package: a wheeled base with either differential or omnidirectional drive and a choice of laser scanners up to 25 m range, a height-adjustable torso from 110 to 145 cm, and up to two 7-DoF arms. The arms are available in a standard version or as Series Elastic Actuator arms built from seven sequential torque-controllable joints with built-in brakes, giving the compliance that makes safe operation alongside people possible; end effectors range from parallel grippers to the 2F-140, 2F-85, ePick and PAL hands, each optionally with force/torque sensing. Payload is 3 kg per arm without the end effector, and battery autonomy is 4-5 hours on one battery or 8-10 hours on two. The whole platform runs Ubuntu LTS with ROS, with an open-source simulation model and tutorials published for it, and premium software packages covering whole-body control, advanced navigation and grasping, visual programming and face perception. Compute starts at an Intel i5 with 8 GB RAM and 250 GB storage and can be upgraded to Intel i7 with 16 GB and 500 GB.