built by Mike Sergi

Target Environment Locomotion Method
Outdoors, all terrain Treads
Sensors / Input Devices Actuators / Output Devices
4 metal detectors
sonar module
electronic compass
drive motors
servo for sonar platform
Control Method Power Source
Autonomous Battery
CPU Type Operating System
Motorola 68HC16 and BASIC Stamp N/A
Programming Lanuage Weight
Time to build Cost to build
URL for more information
Bedlam is a robot that our group (3 people) designed and built for the Carnegie Mellon University Mechatronics Design course. The project was to build a mechanism to detect and mark 6" square metal plates (fake land mines) in a 15' x 15' field. The robot was not allowed to touch the "land mines".

I was the mechanical engineer in the group (with 2 electrical eng.), so I designed and built the robot. The body was constructed out of aluminum and the motors used were beefy motors from an r/c truck. It used what I called a 'dual-differential' for driving and steering. See the report if you're curious about it (the main reason I did it was to do something different, since other groups were using the standard differential steering, but it simplified some control issues). We used 4 metal detectors to sense the plates, a sonar module that was panned using a servo, and I made a dropper mechanism out of lexan and pvc pipe that would drop plastic disks by a servo.

The picture is not the final robot.. we used different metal detectors, there was an electronic compass mounted on a mast in the center of the robot, and the dropper mechanism is not in the picture (it hadn't been made when the picture was taken).

The name Bedlam came from the r/c car called Bedlam we hacked for the wheels and tracks (we didn't use any of the other parts for this project). Bedlam was powered by a 68hc16 board, with a basic stamp driving the servos for the sonar and dropper.

Feel free to email me at
if you have any questions or comments.

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