Hardware

Custom Chassis: Iteration 1 (see image below)

• Front-wheel drive w/ curved wheels (for stair-climbing) + gear up (the driving gear in the image fell off when the picture was taken)
• Flat platform with enough space for electronics & keeping battery mass front + low to make stair climbing easier.
• Passive rear-wheels to simplify design
• Webcam platform above electronics to minimize horizontal space, while keeping wires in one place. (Webcam fell off its mount in this picture)
• Still need to secure Dragonboard and tidy wires.

Iteration 1 of custom chassis. Platform, wheels, and gears are laser cut. Webcam swivel is 3D printed.

MOTOR SELECTION

Introduction to Motors & Choosing the right one: https://learn.sparkfun.com/tutorials/motors-and-selecting-the-right-one

Build our own Motor Driver (Schematics) https://hobbybotics.com/projects/hobbybotics-motor-controller-v1-0/#buildit

Introduction to Motor Driving: PWM, H-Bridges https://www.allaboutcircuits.com/textbook/semiconductors/chpt-11/pulse-width-modulation/

Review of Motor Driver Chips http://forum.makeblock.com/t/the-review-of-dc-motor-drivers-l298n-tb6612fng-and-lv8406t/372/3

Terrain Maneuvering Mechanics

• Passive transforming wheels: https://www.youtube.com/watch?v=syUfxj4OYi8
• More Stair climbing robots: http://www.youtube.com/playlist?list=PLr4JoX6vICMkIoBjgJIEc4TOgyKfMxsKG
• Big Squishy Wheels: https://youtu.be/ELwjiIKIx2s
• Wheelchair: https://youtu.be/Tt9et4TSCEI
• Tank Drive + Stabilization: https://youtu.be/VoqLz2RHDR0
• RC Whegs Robot: https://youtu.be/V4bHBb-Y8ac
• NASA Origami robot: http://money.cnn.com/video/technology/2017/03/15/puffer-nasa-origami-tiny-foldable-robot.cnnmoney/
• Running Robot: https://www.technologyreview.com/s/604308/an-ostrich-like-robot-pushes-the-limits-of-legged-locomotion/