CTU CloPeMa Testbed

This page describes the hardware specification of the CloPeMa testbed.


  • Two MA1400 arms
  • Two DX100 control units (master and slave)
  • One R-750 turn table


main linux and windows machines

  • cpu: Intel Core i7-2600 CPU 3.40GHz
  • mem: 2x 4GB DIMM 1333 MHz
  • hdd: 750GB + SSD 60GB
  • graf: GeForce GT 520

mini pc

  • cpu: Intel Core i5-3470S CPU 2.90GHz
  • mem: 2x 4GB DIMM DDR3 Synchronous 1600 MHz
  • hdd: SSD 128GB
  • power: 12 V, 10 A


The optimal table height was estimated (#33) to be 0.7 m, assuming three tables on three sides and distance from table centre to robot centre to be 1.0 m.

Material description


  • The light intensity from (old) fluorescent tubes at the level of experimental tables is 800 lux as measured by Smutny 11th of November 2012.