Processus Mobile

built by Rene Trapp

Target Environment Locomotion Method
Indoors 3 Wheels
Sensors / Input Devices Actuators / Output Devices
IR reflexive - gap detection
Bumpring collision detector
stepper motors
Control Method Power Source
Autonomous Battery
CPU Type Operating System
Z80 N/A
Programming Lanuage Weight
RPL selfmade Robot Programming Language less than 1kg
Time to build Cost to build
several months (spread over years) 50DM mechanics / 150DM electronics
URL for more information
Nationality: german
Date of birth: summer 1999 (the mechanics completely redesigned to a compact robot). Start of project in 1989 with first developments and designs
Diameter: 18cm
Height: 7cm
Power: six NiCd-cells 'Mignon' we call it in Germany (I think AA is the US-size)
Purpose: testbed for sensor systems and algorithms / labyrinth navigation
Drivetrain: 2 wheels attached two a geared stepper each / 1 supporting wheel
Computer: Processus (Z80-based, homebrew); 32k ROM; 32k RAM ; 4 timers; 40 IO-lines
Data link: IR, 2400baud, halfduplex (InfraLink)
My experimenting with with robot designs begun in 1989. I wanted to create a robot that can vac the floor satisfying. I have not reached the goal since I had not enough know how in those early days. So I started research on the sensor systems, the algorithms and all the other things necessary to do this task. As I have not many time left over and since I do all the development and research on my own the project continues slowly. But the benefit is that I develop my skills and I have 100% control over all details of the project. I have made the robot from cheap materials and parts available everywhere. The actual design Processus Mobile is intended as a testbed for algorithms and sensor systems I want to experiment with. So the todays 2 sensor systems seem to be primitive and not state of the art but they serve as the lowest level (the last) security and have to be 100% reliable. I have plans for more sophisticated ultrasonic rangers or laser scanners (build from cheap parts, available everywhere) and some day they are ready for use. Email:

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