Title: A remote controlled mobile mini robot
Authors : Caprari, Gilles
Siegwart, Roland
Büchi, Roland
Proceedings: Proceedings of the 7th International Symposium on Micro Machine and Human Science - Towards Micro - Mechatronics in 21st Century, Nagoya (Japan), Oct. 2-4, 1996
Conference details: 7th International Symposium on Micro Machine and Human Science - Towards Micro - Mechatronics in 21st Century, Nagoya (Japan), Oct. 2-4, 1996
Publisher / Ed. Institution : Asian Technology Information Programm, ATIP
Publisher / Ed. Institution: Tokyo
Issue Date: 1996
Language : Englisch / English
Subjects : Mobile robotics; Mechatronics; Electronics
Subject (DDC) : 620: Ingenieurwesen
Abstract: The recent development in the field of microelectronics resulted not only in small microcomputers with high performance, but also in highly integrated sensors and actuators. Designing very small intelligent devices such as miniaturized intelligent autonomous systems is thus becoming possible. The Institute of Robotics of ETH recently started exploring the field of mobile mini robots with on board intelligence and power supply. The latest version is a remote controlled mobile mini robot (21x21x19 mm) developed in a final year student project. It has been designed to take part in the International Micro Robot Maze Contest (cat 2, autonomous robots) in Nagoya. The robot's intelligence is based on a PIC16C84 microcontroller, It is actuated by two SWATCH-Motors and powered by two small watch batteries. The control-loop for the maze is based on a global and a local feedback. The global feedback is realized ba a human operator piloting the robot with an infrared-based unidirectional remote control. The operator is able to drive the robot through some control points in the maze. A local feedback based on two small distance sensors is used to drive the robot automatically in between the walls of the maze. The combination of both control-loops allows the robot to fullfill the goal of the contest with very good performance. The technical data of the mobile robot are: dimensions 21mm x 21mm x 19mm velocity: 20 mm/s power consumption : < 10 mW This low power consumption allows autonomy of aubout 10 hours
Departement: School of Engineering
Organisational Unit: Institut für Mechatronische Systeme (IMS)
Publication type: Konferenz: Paper / Conference Paper
Type of review: Peer review (Abstract)
URI: https://digitalcollection.zhaw.ch/handle/11475/3814
License (according to publishing contract) : Lizenz gemäss Verlagsvertrag / Licence according to publishing contract
Appears in Collections:Publikationen School of Engineering

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