Turtlebot4 Hardware
| Feature | TurtleBot 4 Lite | TurtleBot 4 |
|---|---|---|
| Size (L x W x H) | 342 x 339 x 192 mm | 342 x 339 x 351 mm |
| Weight | 3270 g | 3945 g |
| Base platform | iRobot® Create® 3 | iRobot® Create® 3 |
| Wheels (Diameter) | 72 mm | 72 mm |
| Ground Clearance | 4.5 mm | 4.5 mm |
| On-board Computer | Raspberry Pi 4B 4GB | Raspberry Pi 4B 4GB |
| Maximum linear velocity | 0.31 m/s in safe mode, 0.46 m/s without safe mode | 0.31 m/s in safe mode, 0.46 m/s without safe mode |
| Maximum angular velocity | 1.90 rad/s | 1.90 rad/s |
| Maximum payload | 9 kg | 9 kg |
| Operation time | 2h 30m - 4h depending on load | 2h 30m - 4h depending on load |
| Charging time | 2h 30m | 2h 30m |
| Bluetooth Controller | Not Included | TurtleBot 4 Controller |
| Lidar | RPLIDAR A1M8 | RPLIDAR A1M8 |
| Camera | OAK-D-Lite | OAK-D-Pro |
| User Power |
VBAT @1.9A 5V @ Low current 3.3V @ Low current |
VBAT @ 300 mA 12V @ 300 mA 5V @ 500 mA 3.3v @ 250 mA |
| USB Expansion |
USB 2.0 (Type A) x2 USB 3.0 (Type A) x2 |
USB 2.0 (Type A) x2 USB 3.0 (Type A) x1 USB 3.0 (Type C) x4 |
| Programmable LEDs | Create® 3 Lightring |
Create® 3 Lightring User LED x2 |
| Status LEDs | - |
Power LED Motors LED WiFi LED Comms LED Battery LED |
| Buttons and Switches |
Create® 3 User buttons x2 Create® 3 Power Button x1 |
Create® 3 User buttons x2 Create® 3 Power Button x1 User Buttons x4 |
| Battery | 26 Wh Lithium Ion (14.4V nominal) | 26 Wh Lithium Ion (14.4V nominal) |
| Charging Dock | Included | Included |