DR1 (Dome Robot #1)

built by William J. Boucher

Click on an image to enlarge it
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Target Environment Locomotion Method
Indoors 3 Wheels
Sensors / Input Devices Actuators / Output Devices
2 microphone
8 infrared sensors
daylight sensor
ground sensors
2 drive motors
IR field emitter
Control Method Power Source
Autonomous Battery
CPU Type Operating System
Intel D8749H None
Programming Lanuage Weight
Assembly N/A
Time to build Cost to build
coule of months N/A
URL for more information
This is a robot I built from scratch in 1990. It is a micro-controller based system (Intel D8749H) which I designed & programmed entirely in my home lab. It has various lights, sounds, 2 drive motors, 2 microphones, 8 infrared remote control receivers, a modulated infrared field emitter for navigation, selectable operating modes, a PC interface, a daylight sensor, ground sensors, a prioritized internal rechargable power supply, and an infrared hand-held remote control unit (in case you'd like to command it yourself). It was built entirely as a learning tool for me. Boy, I learned a lot! It's certainly old by now, but the basic principles remain typical. The same design could be used today, but new sensors like Sharp's IR ranger, new processors like PIC, Atmel, Motorola, or Basic modules like BasicX-24 could go a long way to vastly improving performance. This is why this robot hasn't been worked on for a long time. It's actually usually easier to build a new robot than to extensively upgrade one. Programming: All assembler written by myself, programmed on my own homemade programmer. Processor: Intel D8749H PCBs: all homemade custom designed on PadsDemo software & etched with Toner Transfer paper. Base materials: all etched PCB board Dome: 1/2 Hamster ball Parts: 2 modified-for-rotation servos, Honeywell prox-IR sensors, Sharp IR receivers, nicads, assorted v-regs, LEDs, 2x H-bridge, 82C55A port expanders, ULN2803A darlington drivers, homemade caster assembly, homemade wheels. The green PCB photos show a manufactured version of my original Dr1 motherboard design. I have 100 in stock if anyone wants them. Time to build: Designed and built in a coupla months. Initial programming took a coupla weeks, but evolved over a period of years as my skills & experience expanded. Email: boucher@mnsi.net

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