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|Target Environment||Locomotion Method|
|Outdoors, all terrain||6 Wheels|
|Sensors / Input Devices||Actuators / Output Devices|
|PC-17 color video camera||6 drive motors
|Control Method||Power Source|
|CPU Type||Operating System|
|Time to build||Cost to build|
|URL for more information|
|* Custom chassis made from aliminum window stock
* 6wheel drive, 4 wheel steering
* ATV video return link
* PC-17 color video camera, with futuba servos for pan and tilt
* On board V25 CPU board
* PIC Microcontroller used for servo control.
* 1/4scale servos used for steering.
Grover 95 has excellent mobility. It can climb over just about any reasonable obstacle, including objects larger than a wheel diameter. Still, the design is not without its problems. The mechanism requires no fewer than 10 motors to control (6 drive motors, and 4 steering servos). To make proper turn requires the on board computer to calculate various angles and speeds, and then in turn a motor control system has to be able to produce those speeds. This introduces a great deal of complexity. The steering servos were 1/4scale servos geared down 2:1. This gave over 300oz-in of steering torque, however that wasn't enough as in some cases the mechanism will stall. The entire rover weighs in at around 30lbs and it is believed that around 600oz-in are required for steering to work reliably over rough terrain.