Experimental Robotics

Multi-Functional Fully-Autonomous Robot

Team Members: Spencer, Iman, Rupesh, Nick, and I (Daniel)

Image of robot just prior to final competition.

Overall Requirements and Capabilities

Table edge detection and avoidance
Remote emergency stop
Drive up a 20 DEG ramp
Follow a line
Avoid obstacles
Drive over rough terrain
Precision stopping in a designated black circle

Robot preparing to follow black line on table. (Uses a Pixy 2 Camera)

Robot preparing to drive up the 20 DEG inclined ramp. (Uses ultrasonic sensors and IMU)

Robot navigating the rough terrain (above). Detecting the cliff edge (below, uses ultrasonic suite)

Robot detecting and avoiding obstacles. (Uses ultrasonic suite)

My Role

I was very involved in the mechanical and electrical design of the robot. This included the structural mounting and wiring for all of the following sensors:

8 Ultrasonic Sensors
1 IMU (used the gyroscope and accelerometer)
1 Pixy2 (Camera with on-board classifier, color detection, and line detection algorithms)

I also helped significantly with the mobility algorithms, safety design, safety implementation, trade-off analysis, overall product systems engineering, presentation, and more.

We also learned many valuable lessons in this project about separating baseline functionalities from more experimental architectures in order to guarantee a robust, reliable, and safe robot.

ME/CS/EE 129: Experimental Robotics

This class teaches how to bring Mechanical, Electrical, and Software engineering together. The class focuses on these intersections in:

Systems Engineering
Safety Engineering
Physical Robotic Systems

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