TMR
THE REFERENCE PLATFORM FOR AI & ROBOTICS

TACTILE MOBILE
ROBOTPrototype

Tactile Mobile Robot (TMR) is an advanced mobile robot optimized for teleoperation, mobile manipulation and physical AI research. Designed for seamless integration with Franka Research 3, it enables quick deployment for researchers.

 


WHY TMR

  1. NATIVE FRANKA COMPATIBILITY

    TMR is natively compatible with the Franka ecosystem. Mechanical, electrical, and software interfaces are pre-configured, allowing seamless integration with FR3 Duo setups — drastically reducing time to first experiment.

  2. REAL-TIME CONTROL VIA FCI

    Designed with research flexibility in mind, the TMR features a mobile base equipped with standardized mounting points and interface ports. This enables easily attachment and powering of additional sensors, actuators, or custom components tailored to their specific use cases.

  3. MODULAR AND EXTENSIBLE DESIGN

    Designed with research flexibility in mind, the TMR features a mobile base equipped with standardized mounting points and interface ports. This enables easily attachment and powering of additional sensors, actuators, or custom components tailored to their specifi c use cases.
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    Dimensions
    800x580x294 mm
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    Payload

    100 kg
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    Max Speed
    1,75 m/s
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    Operating Time
    8 h at 460 W
    Accessories Icon (1)
    Embedded Sensors
    2x Lidars,
    4x Cameras,
    1x IMU
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    User PC
    NVIDIA Jetson
    AGX Orin
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    Control Frequency
    1 kHz
    (FCI)
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ADVANCED MOTION CONTROL
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FRANKA CONTROL INTERFACE (FCI)

Franka Control Interface (FCI) is designed for roboticists who require fine-grained control over the robot and access to real-time sensor data. It is ideal for motion control research and the development of highly specific behaviors, unachievable with most robots.
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  1. DIRECT CONTROL

    FCI provides low-level, real-time control of the robot, without internal transformation. Internal supervision only prevents self-damage. Gain access to the control loop, including position, velocity and torque in joint space, as well as position and velocity in Cartesian space.

  2. DATA ACQUISITION

    Capture system state data from sensors and models at 1 kHz. FCI also provides external force estimation and additional insights.

  3. COMMUNITY

    Join the ever-growing Franka Robotics community and leverage C++, ROS 2, or MATLAB & Simulink to accelerate robotics innovation.

  4. SAFETY

    Implement custom safety rules to ensure operator protection.
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  6. REAL-TIME CONTROL AND ROS INTEGRATION

    The Franka Control Interface (FCI) allows a fast and direct low-level bidirectional connection to the Arm and Hand. It provides the current status of the robot and enables its direct control with an external workstation PC connected via Ethernet. By using libfranka, our open source C++ interface, you can send real-time control values at 1 kHz with 5 different interfaces:

    • Joint level torque commands with gravity and friction compensation.
    • Joint position or velocity commands.
    • Cartesian pose or velocity commands.

      Simultaneously, you gain access to 1 kHz measurements of:

    • Joint data, e.g., the position, velocity and link side torque sensor signals.
    • Estimation of externally applied torques and forces.
    • Various collision and contact information.

      The robot model library provides:

    • Forward kinematics of all robot joints.
    • Jacobian matrix of all robot joints.
    • Dynamics, inertia matrix, Coriolis and gravity vector.

      Additionally, franka_ros connects Franka robots with the entire ROS 2 ecosystem, integrating libfranka into ROS 2 Control. It includes URDF models and detailed 3D meshes of our robots and end effectors, which allows visualization (e.g., RViz) and Gazebo simulation. Furthermore, the MoveIt! integration simplifies motion planning and gripper control, with example implementations demonstrating how to operate the robot using ROS 2.
     
DEVELOPMENT
Franka Research 3 with Ai Companion integration
BUILD, CREATE, INNOVATE

DEVELOP ON THE FRANKA ROBOT PLATFORM

The resource hub for developers working with the Franka Research 3 robot platform. Dive into a wealth of tools, libraries and documentation designed to accelerate your development journey. Whether you're a seasoned developer or just starting out, you'll find everything you need to build, create and innovate. 

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