The main role of the manufacturing team was to build the robot as per the CAD design. We were granted access to the MN Faruqui Tinkering Lab which helped us a lot in manufacturing the scissor lift and other mechanisms. Aluminum extrusions were used for building a light weight Chassis. I gained a lot of information about the conventions and nomenclature of hardware.

This robot had many things to actuate, specifically 9 Motors and 3 Linear Actuators. 1D Lidars, IMU and Camera were mounted on the robot for Accurate localization. This team worked on sensor fusion and building the embedded circuits required for the robot. The picture above shows the flow of information which was implemented using a combination of a local microprocessor and a remote server.

A task based planner has been implemented which solves the problem statement using the concepts of Finite State Machine. To handle any mechanical instabilities of the robot we deployed several closed loop control algorithms like pitch and yaw control for stable operation. The last picture shows the various steps of the perception module used to detect end of the step/terrace.