Summary of Finalized Prototype Using Arduino
The prototype successfully demonstrates a small, highly maneuverable search and rescue robot with 10 in/s speed, 50 minute battery life, 50–150 ft wireless range (up to 160 ft line of sight tested), 14.5 lb weight, stair-climbing, 10 in gap crossing, 21 in ramp climb at 49 degrees, color video with nighttime illumination, and two-way audio. Tests included fully wireless operation and progressive motor integration; arm rotation sensors (potentiometer-like) provide leg orientation via Arduino analog inputs.
Parts used in the Finalized Prototype Using Arduino:
- Arduino (for analog input measurement and control)
- Arm rotation sensors (potentiometer-like with C-shaped resistive paper)
- Eight motors (six connected in early tests, eight for full drive)
- Wireless communication module (for command, video, and audio links)
- Camera with nighttime illumination
- Audio transceiver (two-way audio)
- Battery pack (providing ~50 minutes runtime)
- Chassis and leg assemblies capable of stair and gap traversal
- Ramp-capable drive interface (for 49 degree, 21 inch climb)
- Laptop or desktop computer (operator control and video/audio interface)
Shown below is the finalized prototype. The purpose of the prototype was to demonstrate the feasibility of a small, highly maneuverable search and rescue robot. As such, the completed prototype was successful. Capabilities include a ground speed of 10 inches per second, battery life of 50 minutes, wireless range of between 50 and 150 feet (depending on interference), weight of 14.5 pounds and the ability to climb stairs. The prototype is also capable of crossing a gap of at least 10 inches and of climbing a 21 inch tall ramp angled at 49 degrees from horizontal. It provides the operator with a color video feed (with nighttime illumination) and two-way audio communication.
Arm Rotation Sensors
The robot also features 4 arm position sensors to indicate the orientation of each leg relative to the body. The sensors are designed similarly to potentiometers with a C-shaped piece of resistive paper. As the arm rotates, it makes contact between the resistive paper and the output terminal. The output voltage is measured with the Arduino’s analog inputs.
First fully wireless test
This was the second major test of the prototype, the first test done entirely without external connections. Again, the laptop used to send commands and view the camera feed (as well as send and receive audio) is not shown. This test brought to light yet more software and hardware issues, which are being addressed.
Line of sight wireless range test
With the robot set up in the configuration shown in the above video, the team tested the line of sight wireless range. The team was able to remain in control of the robot at a distance of approximately 160 ft. More tests are planned to analyze the impact of structural interference.
First full motor test with wireless control
This was the first major test of the prototype. 6 of 8 motors were connected (all except front left rotation and translation). Some software bugs were discovered in the test and are being fixed. Not shown is the laptop connected wirelessly to the robot which is being used to control the motors. Also note that the camera is working with a video feed being sent to the desktop computer shown in the video.
For more detail: Finalized Prototype Using Arduino
- What ground speed does the prototype achieve?
The prototype has a ground speed of 10 inches per second. - How long does the battery last?
The battery life is 50 minutes. - What wireless range was tested?
The wireless range is between 50 and 150 feet depending on interference, and a line of sight test reached approximately 160 feet. - How much does the robot weigh?
The prototype weighs 14.5 pounds. - Can the robot climb stairs and ramps?
Yes. It can climb stairs and a 21 inch tall ramp angled at 49 degrees. - What sensors indicate leg orientation?
Four arm rotation sensors, designed similarly to potentiometers with C-shaped resistive paper, indicate each leg orientation via Arduino analog inputs. - Does the prototype provide video and audio to the operator?
Yes. It provides a color video feed with nighttime illumination and two-way audio communication. - What kinds of tests were performed on the prototype?
Tests included a first full motor test with wireless control, a fully wireless test, and a line of sight wireless range test.
