The Robot Platform Kurt3D.

Kurt3D (Fig. ) is a mobile robot platform with a size of 45 cm (length) $\times$ 33 cm (width) $\times$ 26 cm (height) and a weight of 15.6 kg, both indoor as well as outdoor models exist. Two 90 W motors (short-term 200 W) are used to power the 6 wheels. Compared to the original Kurt3D robot platform, the outdoor version has larger wheels, where the middle ones are shifted outwards. Front and rear wheels have no tread pattern to enhance rotating. Kurt3D operates for about 4 hours with one battery charge (28 NiMH cells, capacity: 4500 mAh) charge. The core of the robot is a laptop computer running a Linux operating system. An embedded 16-Bit CMOS microcontroller is used to process commands to the motor. A CAN interface connects the laptop with the microcontroller.

Figure: The mobile robot platform Kurt3D offroad (left) and the 3D laser scanner (right) The scanner rotates around the vertical axis. It's technical basis is a SICK 2D laser range finder (LMS-200).