built by Johan Van den Brande

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Target Environment Locomotion Method
Indoors Treads
Sensors / Input Devices Actuators / Output Devices
2 x directional LDR
4 x touch
battery level
2 x small geared DC motors
Control Method Power Source
Autonomous Battery
CPU Type Operating System
Programming Lanuage Weight
Time to build Cost to build
several weeks N/A
URL for more information
This small robot measures 75x38x50 mm, and is powered by two geared DC motors. Four NiMH cells, delivering 120mAh at 1.2 V each provide enough power for approximately 1 hour autonomy. The brains of the robot are made up of a AT90LS8535 running at 4MHz in a TQFP package. The motors are driven by a 74AC244, an octal buffer/line driver which I used to make 2 H-bridges.

The robot has 8 sensors; 4 touch sensors on each corner, two directional LDR light sensors, one IR sensor (TSOP1736, RC5 type) and one proprioceptive sensor indicating battery status. This sensor package seems to be enough to provide for rather intelligent behavior.

The robot has a tank like locomotion. I've grown fond of this type of locomotion as it provides traction on all wheels. Also, I really enjoy the skid steering.

The robot has 4 connectors; one to charge the batteries, another one to program the robot, a serial connector and one expansion bus, exposing 8 data lines, from which 4 our ADC capable. I've build a wireless module to put on top of the robot. More on that will follow, sufficient to say now that it uses a BIM2 transceiver from radiometrix. I've experienced some troubles getting the PCB ready for the PC host adapter, as I had to redo the PCB for a few times to get it right. Hence, I put the wireless module on a lower priority.

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