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Our mobile manipulator is composed of a mobile base: a modified XR4000. We can mount different manipulators on top of the base. In the image on the right you can see a Barrett WAM.
We have two Puma 560 (F4V, 10,6 MB) robot arms for teaching. The students learn how to implement joint and operational space controllers. Visual servoing and motion planning is also part of the Puma lectures.
IBM system cluster - e1350/iDataplex Nodes: IBM System x iDataPlex dx360 M2 and dx360 M3 server Interconnects: BNT RackSwitch G8000F 48-port GbE Switch Bundle.
The cluster has 132 nodes, each equipped with two Quadcore CPUs and Hyperthreading, providing in total 2272 slots for parallel computation.
Computers for Deep Learning / CUDA
Two computers each equipped with a NVIDIA GeForce GTX TITAN X GPU.
The kinect sensor projects a known infrared pattern on the scene. This point pattern is not visible for the human eyes. A infrared camera records the pattern and estimate the depth using the shift of the infrared points. A colored image is used to give every point the right color value. The output of the kinect sensor is a colored 3D point cloud of the scene.