| Items | Burger | Waffle (Discontinued) | Waffle Pi |
|---|---|---|---|
| Maximum translational velocity | 0.22 m/s | 0.26 m/s | 0.26 m/s |
| Maximum rotational velocity | 2.84 rad/s (162.72 deg/s) | 1.82 rad/s (104.27 deg/s) | 1.82 rad/s (104.27 deg/s) |
| Maximum payload | 15kg | 30kg | 30kg |
| Size (L x W x H) | 138mm x 178mm x 192mm | 281mm x 306mm x 141mm | 281mm x 306mm x 141mm |
| Weight (+ SBC + Battery + Sensors) | 1kg | 1.8kg | 1.8kg |
| Threshold of climbing | 10 mm or lower | 10 mm or lower | 10 mm or lower |
| Expected operating time | 2h 30m | 2h | 2h |
| Expected charging time | 2h 30m | 2h 30m | 2h 30m |
| SBC (Single Board Computers) | Raspberry Pi 3 Model B and B+ | Intel® Joule™ 570x | Raspberry Pi 3 Model B and B+ |
| MCU | 32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS) | 32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS) | 32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS) |
| Remote Controller | - | - | RC-100B + BT-410 Set (Bluetooth 4, BLE) |
| Actuator | Dynamixel XL430-W250 | Dynamixel XM430-W210 | Dynamixel XM430-W210 |
| LDS(Laser Distance Sensor) | 360 Laser Distance Sensor LDS-01 | 360 Laser Distance Sensor LDS-01 | 360 Laser Distance Sensor LDS-01 |
| Camera | - | Intel® Realsense™ R200 | Raspberry Pi Camera Module v2.1 |
| IMU | Gyroscope 3 Axis Accelerometer 3 Axis Magnetometer 3 Axis |
Gyroscope 3 Axis Accelerometer 3 Axis Magnetometer 3 Axis |
Gyroscope 3 Axis Accelerometer 3 Axis Magnetometer 3 Axis |
| Power connectors | 3.3V / 800mA 5V / 4A 12V / 1A |
3.3V / 800mA 5V / 4A 12V / 1A |
3.3V / 800mA 5V / 4A 12V / 1A |
| Expansion pins | GPIO 18 pins Arduino 32 pin |
GPIO 18 pins Arduino 32 pin |
GPIO 18 pins Arduino 32 pin |
| Peripheral | UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4 | UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4 | UART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4 |
| Dynamixel ports | RS485 x 3, TTL x 3 | RS485 x 3, TTL x 3 | RS485 x 3, TTL x 3 |
| Audio | Several programmable beep sequences | Several programmable beep sequences | Several programmable beep sequences |
| Programmable LEDs | User LED x 4 | User LED x 4 | User LED x 4 |
| Status LEDs | Board status LED x 1 Arduino LED x 1 Power LED x 1 |
Board status LED x 1 Arduino LED x 1 Power LED x 1 |
Board status LED x 1 Arduino LED x 1 Power LED x 1 |
| Buttons and Switches | Push buttons x 2, Reset button x 1, Dip switch x 2 | Push buttons x 2, Reset button x 1, Dip switch x 2 | Push buttons x 2, Reset button x 1, Dip switch x 2 |
| Battery | Lithium polymer 11.1V 1800mAh / 19.98Wh 5C | Lithium polymer 11.1V 1800mAh / 19.98Wh 5C | Lithium polymer 11.1V 1800mAh / 19.98Wh 5C |
| PC connection | USB | USB | USB |
| Firmware upgrade | via USB / via JTAG | via USB / via JTAG | via USB / via JTAG |
| Power adapter (SMPS) | Input : 100-240V, AC 50/60Hz, 1.5A @max Output : 12V DC, 5A |
Input : 100-240V, AC 50/60Hz, 1.5A @max Output : 12V DC, 5A |
Input : 100-240V, AC 50/60Hz, 1.5A @max Output : 12V DC, 5A |
