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