uBot Mobility Platform

uBot Hardware Description

Sensor layers: Color NTSC CCD vision,
Sharp GP2D12 IR proximity detectors,
Acoustic microphones (coming soon)
Tilt and rate sensing from Rotomotion 2DOF IMU

Communication: VideoComm Technologies UHF NTSC transmitter,
Orinoco Wavelan

Main Processing: ADS Bitsy StrongArm Computer (206Mhz)
- PC Card slot for wireless transceiver
- ADSmartIO™

Motion Control layer: K-Team Kameleon with Robotics Extension Board
- Motorola 68376 Processor 22Mhz
- KOS Real-time Operating System
- 1Mb Flash ROM, 1Mb RAM
- 4 H-bridge motor drivers
- encoder feedback with PID
- Onboard A/D converter

Mobility layer: 10 1.2V 3AH Panasonic NiMH batteries,
MicroMo 12V permanent magnet gearhead motors,
Belt driven drive train,
Retrofit rollerblade wheels

Related Documents:

Setting up Wavelan PC Card, with remote telnet and ftp on Bitsy under linux
Setting up communication between ADS Bitsy and K-Team Kameleon board
Compiling for the Kameleon
Compiling for the Bitsy
Modelling the uBot as an inverted pendulum in Matlab
Implementing the balancing uBot in Gazebo and Player/Stage
Implementing the LQR State Space solution on the Kameleon Board
Developing a tilt and rate sensor (using Kalman Filter) for the Balancing uBot

updated 30-April-2004

pdeegan@cs.umass.edu

Sensor layers:	Color NTSC CCD vision, Sharp GP2D12 IR proximity detectors, Acoustic microphones (coming soon) Tilt and rate sensing from Rotomotion 2DOF IMU
Communication:	VideoComm Technologies UHF NTSC transmitter, Orinoco Wavelan
Main Processing:	ADS Bitsy StrongArm Computer (206Mhz) - PC Card slot for wireless transceiver - ADSmartIO™
Motion Control layer:	K-Team Kameleon with Robotics Extension Board - Motorola 68376 Processor 22Mhz - KOS Real-time Operating System - 1Mb Flash ROM, 1Mb RAM - 4 H-bridge motor drivers - encoder feedback with PID - Onboard A/D converter
Mobility layer:	10 1.2V 3AH Panasonic NiMH batteries, MicroMo 12V permanent magnet gearhead motors, Belt driven drive train, Retrofit rollerblade wheels