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

"Meet Emerson, an autonomous robot designed to recharge itself using wall outlets. Equipped with sensors for obstacle avoidance and wall following, along with actuators such as Y-Z stage and stepper motors. Utilizes fuzzy logic speed control and IR sensors. Ongoing fabrication challenges, but set to be ready for Demo Day soon."

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

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  1. Robot Report“Emerson”Crawford HampsonEEL5666: IMDLApril 8, 2010

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

  3. Sensors • Bump sensor plates • 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

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

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

  6. 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

  7. Questions?

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