6-axis Panthera-HT robotic arm for Leo Rover

Key features of the Panthera-HT for Leo Rover

• 6-axis robotic arm
• Designed for integration with Leo Rover
• Nominal payload: 1.5 kg at full reach
• Maximum reach: 650 mm
• Repeatability: ±0.2 mm
• Arm weight: 3.8 kg
• Independent 24 V power supply from the rover's main battery
• Dedicated Leo Rover mount with housing for the controller and battery
• ROS 2 Jazzy and MoveIt 2
• URDF/Xacro models and MoveIt 2 configurations available
• Open architecture with documentation and ROS 2 resources
• Suitable for research, education, autonomous manipulation, and prototyping

Transforming the Leo Rover into a mobile manipulator robot

Integrating the Panthera-HT adds 6-axis manipulation capabilities to the Leo Rover while preserving its mobility. The rover can thus move to an intervention zone, position the arm, and then execute a manipulation task.

This architecture specifically allows combining the rover's autonomous navigation with the arm's motion planning to develop applications where perception, movement, and manipulation must work together.

Independent 24 V power supply for the Leo Rover

The Panthera-HT operates with its own 24 V power subsystem. A dedicated rechargeable battery is integrated into the arm mount and directly powers the manipulator.

This architecture prevents drawing from the Leo Rover's main 12 V circuit. The traction motors, onboard electronics, and the rover's computer thus remain isolated from current variations generated by the arm's movements.

The kit also includes a dedicated charging station with a 24 V / 2 A charger, allowing the manipulator's battery to be managed independently.

Mechanical mount designed for the Leo Rover

The kit includes a mount specifically developed for the Leo Rover chassis. It combines several functions in a single structure:

• Mechanical fixation of the arm on the rover
• Housing for the Panthera-HT low-level controller
• Dedicated compartment for the 24 V battery
• Routing and organization of power and communication cables.

This integration avoids the need to develop specific mechanical and electrical adapters before starting research work on mobile manipulation.

ROS 2 Jazzy and MoveIt 2 for autonomous manipulation

The Panthera-HT features dedicated software integration for the Leo Rover under ROS 2 Jazzy. The ROS 2 package allows controlling the arm from the SDK, via MoveIt 2, or using a game controller.

URDF/Xacro models and MoveIt 2 configurations are available to integrate the manipulator into the Leo Rover's robotic model and develop trajectories that account for the arm's kinematics.

This architecture specifically allows associating Nav2 for mobile navigation and MoveIt 2 for manipulation within the same ROS 2 application.

An open platform for research and prototyping

The solution is designed as an open development platform. Available resources include mechanical models, integration documentation, and ROS 2 packages allowing the system to be adapted to the needs of a research or prototyping project.

Teams can thus add their own sensors, cameras, grippers, or perception algorithms without having to start from a complete mechanical and software integration.

Pack contents

• 1 × 6-axis robotic arm Panthera-HT
• 1 × specific mount for Leo Rover with controller and battery housing
• 1 × 24 V rechargeable battery
• 1 × charging station for 24 V battery
• 1 × dedicated 24 V / 2 A charger