Modular Parallel
Jaw Gripper
Jaw Gripper
Back-Drivable
7DOF ARM
7DOF ARM
3D RGB Depth Sensor
2D laser Scanner
Computer Access Panel
Fetch Mobile Manipulator
Purposefully designed for typical human working environments, the Fetch Mobile Manipulator provides an affordable, fully integrated standard platform for mobile manipulation research.
Fetch Mobile Manipulator in Action
Specifications
Weight
113.3kg (250lbs)
Height
1,096mm (43.15in) down, 1,491mm (58.70in) up
Base footprint
508mm (20in) wide, 559mm (22in) dia.
Max speed
1.0m/s (2.23mph)
Turning radius
Turn in Place
Degrees of freedom
13 (base, torso lift, 7-DOF arm, gripper and head)
Environment
Indoors
Charge time
3hrs to 90%
Computer
Processor
Intel i5, Haswell
RAM
16GB
Hard drive
120GB SSD
Wireless
Integrated 802.11ABGN and 802.15.1
Speaker
4 speakers, 10 Watts per channel
7-DOF arm
Payload (at full extension)
6kg (13.23lbs), 5kg (11.02lbs) with gripper installed
Arm length to gripper mount
940.5mm (37.25in)
Max end effector speed
1.0m/s (2.23mph)
Gripper modularity interface
Mechanical
Based on ISO 9409-1 50-4-M6
Power
24V@2A
Communication
Ethernet
Sensors
2D laser
SICK, 25m, 220 degrees
3D RGB-D Camera (head)
Primesense Carmine 1.09 in head
IMU
6-DOF IMU in base (1), gripper (1)
Extensibility
Head
1x USB 2.0
Mount points
On top of base and on top of head
Video port
HD video port
Other ports
3x USB 3.0, 1x Ethernet
Gripper
Max grasp force
245N
Max gripper opening
100mm (3.94in)
Wrist max pickup
6kg (13.27 lbs)
Grip weight
1kg (2.20 lbs)
Compatible with external grippers
Installed software
Ubuntu Linux LTS, ROS
Installed applications
ROS Navigation, MoveIt!, joystick teleop, calibration
Fetchit! Challenge
The competition involves having a Fetch Mobile Manipulator autonomously navigate to stations in a work cell, pick up items, operate basic machinery, place items into kits, and transport the finished kits to a drop-off location. The team that assembles the most kits within 45 minutes takes home a Mobile Manipulator!
Winners of 2019 Fetch it at ICRA. Sonia Chernova from Georgia Tech said, "We’re very excited to have won the FetchIt! challenge, it has allowed us to validate our research code in a complex domain. We can’t wait to continue our work with our newest Fetch robot.”
FetchResearch in Simulation
Both the Freight mobile robot base and the Fetch mobile manipulator have simulated counterparts using the Gazebo simulator.
View our FetchResearch in Simulation document
