Ghost Robotics
Ghost Vision 60
The Vision 60® Q-UGV® (5th gen 5.1D or later ), is a mid-sized high-endurance, agile and durable all-weather ground drone for use in a broad range of unstructured urban and natural environments for defense, homeland and enterprise applications.
Ghost Vision 60
Fast, Agile, Robust, and Unstoppable
The Vision 60 Q-UGV, is a mid-sized high-endurance, agile and durable all-weather ground drone for use in a broad range of unstructured urban and natural environments for military, CBRNE, homeland and enterprise applications.
The Vision 60 not only manages unstructured terrain well, but is built for demanding customers in demanding environments. Ghost Robotics Q-UGVs are faster, more durable, have greater endurance, simpler to integrate, and far easier to support versus their competitors.
The Vision 60 is unstoppable, with the ability to get right back up from any slip, fall, or failure and keep moving using Ghost Robotics's proprietary blind-mode operation. It has too, because the Vision 60 is designed and built to keep humans and K9s out of harm’s way.
Fast and Agile
1 m/s (3.3 ft/sec) standard walk. Up to 1.6 m/s (5.2 ft/sec) fast-walk; 2.2 m/s (7 ft/sec) run. 3 m/s (10 ft/sec) sprint. Dependent on payload, terrain and temp
Long Endurance
6.8 – 12.8 km (4.2 - 8 miles) per charge Li-Ion, 8 - 10 hrs. mixed use and 21 hrs. standby
Any Environment
IP67 sealed to water and dust and operating temp range of -40o to 55oC (-40o - 131oF) with Extreme temp battery pack & sensor options
Robust Operation
“Blind-Mode” operation on difficult terrain, at high-speeds, in tall grass, confined spaces, and recovery behaviors that are far superior to proprioceptive sensor-focused designs
Any Terrain
Traverse a range of terrains & substrates, including stairs using vision and blind-mode
Unstoppable
Self-right from any immobilization, and even operate fully inverted when seconds count
Autonomy Modes
Integrated GPS waypoint and record-and- playback route automation from OCU
High-Bandwidth 360° Sensing
GMSL2 16-channel integrated RGB and depth sensors for surround-sensing. Add thermal/IR or any sensor via GMSL2, USB or ethernet
Flexible Comms Architecture
Integrated 2.4, 5.8 GHz Wi-Fi & 4G/LTE; GigE switch supports any external radio including 5G, SDRs & SAT
Field Repair Entire Robot
Quick-swap sub-assemblies within minutes (legs, battery, compute, sensors...)
Powerful NVIDIA Edge Computing
Same powerful Xavier 32GB RAM used in leading autonomous vehicles; deploy any application, autonomy or AI
ROS2 & Simulation
High-level API with ROS, ROS2 and MAVLink support, and lower-level C/C++ API. Full 1:1 simulation support in Gazebo environment
Wireless Charge Kit
Portable wireless charging station for in/outdoor persistent 24x7 operation
Manipulator & Specialty Sensors
Recently added HDT Global® customizable arm. CBRN and specialty sensing kits
Details
- General Robot Design
- All-electric direct charge Q-UGV w/ quick-change sub-assemblies constructed of AL & composites. Exoskeleton protecting core integrated electronics. T-slot, frame points or 1913 MIL-STD rails for mounting w/ optional body panels
- Packaging & Tools
- SKB wheeled hardcase, quick-changes toolset and spare Vibram® toes
- IP Rating
- IP67
- Operating Temp
- -40° to 55° C (-40° to 131° F)
- Operating Certs
- CE certification pending
- MTBF Target
- 8,000 hours estimated
- Key Dimensions cm (in)
- L: 85cm (33.5) | W leg-2-leg: 54cm (21.3) | H stand: 38-76cm (15-30)
- Mass kg (lbs)
- Tare: 38kg (84) | w/ Battery: 45.4kg (100) | w/ Hardcase: 78.5kg (173)
- Battery
- 1,250 WH Li-Ion
- Endurance (mi)
- 6.8 - 12.8 km (4.2 - 8) (payload & terrain dependent)
- Battery Life (hrs)
- Standby: 21 | Mixed: 8 - 10 | Continuous: 2 - 4 hrs (payload & terrain dependent)
- Available Payload kg (lbs)
- 9kg +/- (20 +/-) w/ base battery installed
- Actuation, Legs & Toes
- 3DOF 12-Motor back-drivable drive-train, 340° articulation w/ Vibram toes
- Core Computer
- ARM® MCU
- App Computer
- NVIDIA® Xavier 32GB RAM w/ 16 channel GMSL2, 2TB NVMe SSD
- I/O
- GMSL2, ethernet, USB 3, CANBus
- Regulated Power
- 12/24/28V (up to 42V unreg) 8amp max
- Integrated Sensors
- (5) RGB GSML2 & (4) Depth USB
- Communications
- 2.4, 5.8 GHz WiFi & 4G/LTE GigE switch
- Tele-Op Controller
- Samsung® Active Tab 3 standalone or in combination w/ dual joystick OCU
- Software Applications
- Ghost OS & Ghost Mobile; Base gait library & safeguard autonomy
- Low-level API
- C/C++
- High-Level API
- ROS, ROS2, MAVLink Compatible w/ 1:1 Gazebo SIM support
Computing
- Integrated (mid-body, accessible from back)
- Sealed IP67 field-change sub-assembly: Integrated NVIDIA, GR-UGV mainboard, communications, GNSS, and other electronics
- Computer
- NVIDIA® Xavier CPU/GPU with I/O 2x Ethernet, 1x USB3, 16-channel GMSL2 sensor carrier board
- Communications
- WiFi 2.4 & 5.8 GHz with Dual SIM 4G/LTE
- 5G in testing
- Managed GigE switch supports any IP/Ethernet compatible radio (Silvus, Persistent, other Manet, Satellite...)
Operational & Task Sensors
- Integrated (fore, aft, port, starboard, & belly)
- Sealed IP67 quick-change sub-assembly w/ integrated multi-colored system status LEDs
- (4) Depth 87x58° FOV, 640x480 at 90FPS (fore, aft and belly)
- (5) RGB 132x86° FOV, 1910x1080 at 60FPS (fore, aft, port and starboard)
- Optional thermal/IR with a range of options
- Acoustic array (w/ speaker) in development
- Optional Body-Wide Mounting of Task Sensors
- Any GMSL2, IP/Ethernet or USB compatible: camera, radar, LIDAR, mineral, CBRN
- Fixed body-wide mounting points w/ T-slot back- belly rail system with picatinny conversion kit
Power & Battery
- Power Output Options
- Regulated 12, 24V. 8A, max not to exceed 150W
- Unregulated 42V from battery
- Battery
- Sealed IP67 quick-change sub-assembly with integrated BMS and optional wireless charging electronics
- Standard: Li-ion 1250 WH
- Optional extreme cold temp kit < -20C (-4F) consistent ambient temp
- AgiliCharge Wireless Charging
- 500W hybrid inductive-resonant charging
- IP65 Wireless transceiver base with floor, doghouse or custom outdoor mounting kits
- Conex or low-profile all weather charging doghouse w/integrated HVAC and roll doors
Core Electronics
- Actuator Pod, Module, & Leg
- IP67 sealed single-piece construction quickchange 3DOF leg pod with motors located proximally to minimize inertia
- Removable Vibram standard & substrate-specific toes. Future aggressive angle and ice options
- Motor Controllers
- EtherCAT w/ current control including position, velocity, current and voltage sensing
- Input 18-43V; current 80A peak, 30A RMS
- Mainboard
- ARM microcontroller & 2kHz control core
- EtherCAT comms with calibrated high-grade IMU
- Customizable: for security and govt users; AI, optical & specialty edge processing integration
Behaviors
- General
- Walk at 1 m/s (3.3 ft./sec), fast walk up to 1.6m/s (5.2 ft./s) and run at 2.2m/s (7.0 ft./s); Sprint 3 m/s (10 ft/sec), crawl gait and leap gaps
- Ground clearance
- Up to 55cm ( 22 in.)
- Blind-Mode
- Traverse unstructured terrain by feeling the environment without force sensors (toe or motor force, or series elastic)
- Self-Right
- Self-right from any immobilization
- Inverted Body Operation
- All behaviors supported, excluding visible/IR assisted stair climbing
- Stairs
- Ascend and descend stairways using sensors and/or in combo w/ blind-mode
- Sloped Surface
- Up to 35° - 40°, depending on surface friction, weather conditions and toe
- Manipulate
- Attach 3rd party robot arms (HDT Adroit series 6DOF or custom configuration)
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