1. Machine Intelligence Design Laboratory
The Centipede
Designer
Jamie Rutledge
Machine Intelligence Design Laboratory

2. The Centipede
The Centipede is an all terrain autonomous mobile agent. It is a segmented robot designed to climb over objects in its path. The direction is controlled though two servos mounted between each segment.

3. Behaviors
Variable Wall Following
Semi obstacle avoidance
Squiggle

4. The Centipede Spring Loaded Hinge Flexible and Rigid Direction Servo
Epoxies, Stability

5. Sensor Array

6. Tilt System Two Glass Mercury Switches Sigma = 55 degrees
theta = 145 degrees
If shorted Evasive maneuvers will be made pending which sensor is shorted
Connected to PE0

7. Variable Following System
Simple Voltage Divider
V1 is measured by PE2
V is the 5V supply
Analog values range from 2.5V = 91 and 3.3V = 127

8. Demonstration Time Any questions about the system
Watch the system run over what is in its path.
Centi “Here Little TJ, TJ!!! I just want to play!!” (CRUNCH CRUNCH CRUNCH)