Robot Report “Emerson” Crawford Hampson EEL5666: IMDL April 8, 2010

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Presentation transcript:

Robot Report “Emerson” Crawford Hampson EEL5666: IMDL April 8, 2010

Robot: “Emerson” Autonomous robot capable of using wall outlets to recharge itself

Sensors Bump sensor plates IR sensors Battery voltage Electromagnetic Radio Shack switches IR sensors Sharp medium-range sensors (obstacle avoidance) Sharp short-range sensors (wall-following) Battery voltage Voltage divider Electromagnetic Op-amp detector circuit with signal conditioning

Actuators Y-Z stage Linear actuators Bipolar stepper motor Hacked servo

Behavior Obstacle Avoidance Fuzzy logic speed control Wall following Bump sensors LS, LF, RF, RS differentiation IR Detect obstacles Fuzzy logic speed control Wall following Detect wall outlets

Conclusion Problems with linear actuator fabrication slowing things down, but should be running by Demo Day Left to do: Finish actuator Integrate software behaviors Refine

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