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|Target Environment||Locomotion Method|
|Outdoors, level terrain||4 Wheels|
|Sensors / Input Devices||Actuators / Output Devices|
|2 Color Video Cameras
Sharp GP2D12 IR sensor
Speech recognition sensor
National LM35 temp sensor
ADXL250 2-axis accelerometer
Abacom 433MHz transceiver
Dinsmore Digital Compass
|4 Hsiang-Neng motors
4 Kornylak 2580 omni-wheels
OWI-007 Robotic arm
|Control Method||Power Source|
|CPU Type||Operating System|
|PIC Microcontroller||None on robots, Windows on controller|
|Time to build||Cost to build|
|1 year||approximately $1000 USD|
|URL for more information|
|The SMURF-IV robot It is primarily designed for surveillance purposes. The system can be controlled through the internet, allowing it´s operator to monitor a site from anywhere on the world.
This is the fourth robot that our team built at Marista Sant´Ana School, in Uruguaiana - Brazil. The team members include Eduardo José Bruxel de Sá, Fernando Bruxel de Sá, Lucas Dias da Silva Predebon, Luiza Sanchotene Ceolin, Raquel Forgiarini Saldanha and Younes Maia Younes.
We implemented a holonomic drive-train, capable of moving the platform in any direction (even in diagonals) without changing the orientation of the wheels. The motors are controlled independently by 4 National LMD18200T MOSFET H-Bridges. The robot is controlled by a MSWlogo GUI running on a windows PC. Radio link range is 150m. The voice recognition system allows 3 different operators to control the system using their speech. Accuracy is about 95%.
The robotic arm allows moving small objects (the arm claw opens to 5cm). The maximum lifting capacity is 500 grams. We designed our own board to control all 5 motors present on the manipulator. A CMUcam allows the system to track objects by their color. The robotic arm is capable of picking up these objects automatically. A 16x2 character LCD display system information.