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

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

3. 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

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

5. 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

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?