Robo-Dumpster: The Autonomous Garbage Truck Alan Hamlet University of Florida 25 March 2010

Why an Autonomous Garbage Truck? Save companies/government money – Grocery stores, amusement parks, cities – Cheap and reliable work – Can work 24/7 Create new industries – Building and maintaining robots – Any jobs lost will be counteracted Proof-of-concept model

Obstacle Avoidance Current Progress – 2 front IR’s – Turns only one way Goal: smart turning – Left if right IR blocked – Right if left IR blocked – Back up if both blocked Random turn

Gripper/Arm Mechanism Gripper – Servo arm pulls gripper open with cable – Otherwise spring holds gripper tightly closed May need stiffer spring for better grip Arm – 343 oz.-in servo raises arm, gripper and object

Gripper/Arm Mechanism Can successfully grip and lift objects

What’s Next Finish programming CMUcam – Search for red LEDs on trash cans – Track green garbage collection area Attach truck bed Fine tune behaviors in software Finish building garbage cans

Questions/comments? Thank you