built by Istvan Nagy

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Target Environment Locomotion Method
Outdoors, all terrain Treads
Sensors / Input Devices Actuators / Output Devices
IR ground sensors
battery voltage monitor
laser radar
DC drive motor
arm and gripper
Control Method Power Source
Autonomous Battery
CPU Type Operating System
TMS320F2811 DSP None
Programming Lanuage Weight
Time to build Cost to build
Over 4 years N/A
URL for more information
This is my second robot, and my diplome-project. My first one was ni002. I designed the mechanics, electronics, and software. The project took 4 years (2002-2006), however its not completely finished. Now it can be used as a Bluetooth-remote-controllable half automatic vehicle, but the original plan was to make it fully automatic.

The capabilities:
-moving in a linear way,
-easy movement with caterpillars
-turning in place (easy by the caterpillars)
-sensing ground in front, 2 directions. IR. (stop at the edge of the desk)
-Catch and carry small objects with the robot-arm
-remote control through Bluetooth
-measuring and control movement by accelerometers. (path length, turning angle)
-controlled by a high performance 150 MHz TMS320F2811 DSP
-Laser radar
-measure battery voltage
-send measurement data to the host. (user control and debug)

About the laser radar: I want to keep the details in secret, because its an invention, and when it will work 100%, i will sell it. In the tests it worked, but wasnt good enough for the robot. For sensing position of obstacles to catch, and for full automatic movement control. I will not provide any more info about it.

The mechanics:
its home-made. The base is made of 0.5mm aluminum plates. The caterpillars are made of: shue-sole-basematerial, casette-player-DC motors, bearings. The robot arm: 2 DC motors, aluminum and whatever I could find.

The electronics:
5 PCBs: the baseboard, motor-control board, DC-to-DC board, Bluetooth board, and radar-board. All are 2 layer boards. 3 are made at a PCB manufacturer, the others are made by me. The baseboard contains the DSP.

Lots of c-functions (on 2 levels), called by a command-interpreter, listening on Bluetooth. The intepreter can collect and send data to the host computer.

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