Monday, February 2, 2004

Brutus v1.0. Rough terrain experimental robot

I made Brutus with the idea of building a modular robot, as a platform to prove new experimental modules.

The version 1.0 that is in this technical report refers to the simplest version of the implementation of the robot, in which it has wireless remote control of navigation, as well as a simple program for autonomous navigation.

Alejandro Alonso with his robot Brutus

Some basic characteristics that define Brutus v 1.0 are the following:

  • Size (cm): 120 x 85 x 50
  • 4 wheels 
  • Two electrical DC motors with good torque attached to the rear wheels
  • Rear suspension
  • Front steering controlled by a good torque servo
  • Front sonar with controllable orientation 
  • Shock Absorber (Fender/bumper) at the front with electronic shock detection
  • Onboard computer (Pentium) with control program in Visual C++
  • Module "Russian" for the management of the robot devices
  • Wireless communication WIFI with other external computer
  • 3 batteries of 12v
  • System fully controlled via I2C bus

In this work there will be mention to all the mechanical, electronic and programming aspects, as well as conclusions of the experience.

Technical Report (.PDF)  <--- In Spanish. Not translated to English yet
"Brutus" program in Visual C++ (.ZIP)
Additional Pictures (.ZIP)

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