Robots
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2003 - 2004
The S-bot is a highly integrated autonomous mobile robot creating by the Swarmbot European project . It has about 50 integrated sensors, 9 degrees of freedom, video and sound subsystems, 12 PICs microcontrollers, an 400 Mhz XScale processor with Linux and Wifi. The S-bot can connect to other S-bots thus creating a higher level structure called Swarmbot.
I worked 6 mounth on the S-bot, mainly porting Linux from Armonie, creating the system API and writing test programs.
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Hovercraft robot
2000
This is a hovercraft robot I made with Cécile Grivaz for the 2000 EPFL firefighter robot contest. A central fan lifts the robot while two side fans provide thrust for counter-rotation and displacement. The control system is a 68HC12 microcontroller connected to a linear camera and a gyroscope.
The firefighter strategy involves going straight to a candle, then turning and using the blast of the side fans to blow out the candle. However, the yield was not high enough for the robot to lift up.
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Simple wheeled robot
1999
This is a simple differential wheeled robot I made with Cécile Grivaz for the 1999 EPFL firefighter robot contest. It has one linear camera, two motors, and a fan to blow out the candles. A 68HC12 microcontroller programmed in CALM assembler controls the behaviour of the robot.