Ester

built by Sirael Team


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Target Environment	Locomotion Method
Indoors	Treads
Sensors / Input Devices	Actuators / Output Devices
shaft encoders floor color sensors Sharp GP12D12 IR rangers camera	2 BLDC motors (tracks) 3 DC motors (cylinders) laser pointer for localization
Control Method	Power Source
Autonomous	Battery
CPU Type	Operating System
AMD K6 350MHz	Linux
Programming Lanuage	Weight
C++	12 kg
Time to build	Cost to build
countless hours	a lot
URL for more information
http://robotika.cz/robots/ester/en
Comments
Ester's job is to collect small rugby balls at a 2x3m field. It has been built for Eurobot 2004 competition and it ranked 4th out of more than 40 teams in the international finale in France. It tracks its position using Monte Carlo Localization merging information from shaft encoders and floor color sensors. It is able to shoot the balls to the goal from any position on the playing field. More information about the shooting mechanism and the control software can be found on the homepage (in english and czech).

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