T-Top is a tabletop robot designed with advanced audio and vision sensors, deep learning perceptual processing and telecommunication capabilities to provide richer interaction modalities and develop higher cognitive abilities from interacting with people.
- Marc-Antoine Maheux (@mamaheux)
- Charles Caya (@chcaya)
- Alexandre Filion (@alexfilion)
- Dominic Létourneau (@doumdi)
- Philippe Warren (@philippewarren)
- Ian-Mathieu Joly (@joli-1801)
- Source code files: GPLv3
- Other files: Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International Public License
| Category | Type | Description |
|---|---|---|
| Power | Power Adapter | 19 V |
| Battery | 1x RRC2054-2 | |
| Battery Charger | 1x RRC-PMM240 | |
| Sensors | Microphone Array | 16x xSoundsMicrophones, 1x 16SoundsUSB |
| RGB-D Camera | 1x Intel RealSense D435i | |
| Wide Angle Camera | 1x Arducam AR0230 | |
| Touchscreen | 1x 7 inch 1024x600 capacitive touchscreen | |
| Current/Voltage | INA220 | |
| Light Sensors | 4x Adafruit ALS-PT19 | |
| Buttons | 4x buttons | |
| Actuators | Stewart Platform | Displacement range: ±3 cm (x, y and z), ±20° (x and y), ±30° (z). Motor: Dynamixel XL430-W250 |
| Rotating Base | Displacement range: illimited. Motor: Dynamixel XL430-W250 | |
| Speakers | 4x Dayton Audio DMA45-8, 2x MAX9744 | |
| Cooling | 2x Noctua NF-A4x20 5V | |
| Touchscreen | 1x 7 inch 1024x600 capacitive touchscreen | |
| LED | Battery status, volume level, led strip | |
| Network | WiFi | Intel Dual Band Wireless-AC 8265 NGW |
| Ethernet | 100 Mbps | |
| Processing | Computer | NVIDIA Jetson AGX Xavier Developer Kit or NVIDIA Jetson AGX Xavier Orin Developer Kit |
| Motor MCU | Teensy 4.0 | |
| Battery MCU | Teensy LC | |
| Perceptions | SLAM, object detection, person pose estimation, face recognition, sound classification, speaker identification, robot name detection, speech to text, person identification, music beat detection, source source localization, ego noise reduction, vad | |
| Behaviors | Telepresence, emotions, talking, greeting, face following, dancing, exploring, sound following |
- The documentation folder contains the documentation to build and configure T-Top.
- The CAD folder contains the SolidWorks files of the robot. Il also contains the DXF and STL files to cut and print custom parts.
- The firmwares folder contains the firmware for the MCUs.
- The PCB folder contains the KiCad files of the custom PCBs. Il also contains the Gerber files to manufacture the PCBs.
- The ros folder contains the ROS packages to use the robot.
- The tools folder contains the tools to develop and use the robot.
See 01_COMPUTER_CONFIGURATION.md
- M.-A. Maheux, D. Létourneau, P. Warren, A. M. Panchea, J. M. Robillard and F. Michaud, “Designing a Tabletop SAR as an Advanced HRI Experimentation Platform,” in Proceedings of the 2024 International Symposium on Technological Advances in Human-Robot Interaction (TAHRI 2024), Boulder, CO, USA, 2024
- A. M. Panchea, M.-A. Maheux, P. Warren, D. Létourneau and F. Michaud, “Exploratory Evaluation of a Tabletop Robot With Older Adults,” in Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction, Boulder, CO, USA, 2024, pp. 817–821.
- M.-A. Maheux, A. M. Panchea, P. Warren, D. Létourneau and F. Michaud, “T-Top, an Open Source Tabletop Robot with Advanced Onboard Audio, Vision and Deep Learning Capabilities,” in Proceedings of the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 2023, pp. 7862-7869.
- M.-A. Maheux, C. Caya, D. Létourneau and F. Michaud, “T-Top, a sar experimental platform,” in Proceedings of the 2022 ACM/IEEE International Conference on Human-Robot Interaction, 2022, pp. 904–908.
IntRoLab - Intelligent / Interactive / Integrated / Interdisciplinary Robot Lab