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  • Micro Robotics

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    Eduardo Hidalgo
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    The autonomous micro robot Alice was developed by the Swiss Federal Institute of Technology to be the cheapest and smallest intelligent mobile robot for studying collective behavior with large quantities of robots. Alice is only 22mm x 21mm x 20mm in size, runs on batteries with up to 10 hours of autonomy, and costs around 500 Swiss francs. It has infrared sensors, radio communication, and is flexible to add additional sensors and capabilities. Alice has been used in various projects studying navigation, mapping, robot soccer, and collective behaviors. Ongoing and future work involves adding new sensors such as cameras and exploring applications like industrial micro-factories.

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    The autonomous micro robot Alice was developed by the Swiss Federal Institute of Technology to be the cheapest and smallest intelligent mobile robot for studying collective behavior with large quantities of robots. Alice is only 22mm x 21mm x 20mm in size, runs on batteries with up to 10 hours of autonomy, and costs around 500 Swiss francs. It has infrared sensors, radio communication, and is flexible to add additional sensors and capabilities. Alice has been used in various projects studying navigation, mapping, robot soccer, and collective behaviors. Ongoing and future work involves adding new sensors such as cameras and exploring applications like industrial micro-factories.

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    Attribution Non-Commercial (BY-NC)
    Descărcați ca PDF, TXT sau citiți online pe Scribd
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    192 vizualizări1 pagină

    Micro Robotics

    Încărcat de

    Eduardo Hidalgo
    The autonomous micro robot Alice was developed by the Swiss Federal Institute of Technology to be the cheapest and smallest intelligent mobile robot for studying collective behavior with large quantities of robots. Alice is only 22mm x 21mm x 20mm in size, runs on batteries with up to 10 hours of autonomy, and costs around 500 Swiss francs. It has infrared sensors, radio communication, and is flexible to add additional sensors and capabilities. Alice has been used in various projects studying navigation, mapping, robot soccer, and collective behaviors. Ongoing and future work involves adding new sensors such as cameras and exploring applications like industrial micro-factories.

    Drepturi de autor:

    Attribution Non-Commercial (BY-NC)
    Descărcați ca PDF, TXT sau citiți online pe Scribd
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    din 1

    Autonomous Micro Robotics: Alice

    Swiss Federal Institute of Technology (EPFL) - Autonomous Systems Laboratory (ASL)

    Motivation
    Cheapest and smallest intelligent mobile robot Study collective behaviour with large quantity of robots Acquire knowledge in highly integrated intelligent systems Advantages: Small size Long power autonomy low cost ( ~ 500 SFr ) No danger and increased robustness Soft- and hardware flexibility Partners: Center for Nonlinear Phenomena and Complex Systems, ULB Bruxelles Centre de Recherche sur la Cognition Animale, UPS Toulouse Swarm-Intelligent Systems Group (SWIS), EPFL Institute of Ecology - University of Lausanne

    System Description
    2 Swatch motors (lavet) with wheels and tires Microcontroller PIC16F877 with 8Kwords Flash EPROM program memory NiMH rechargeable battery 4 IR proximity sensors Receiver for remote control Dimensions Velocity Power consumption Communication Power autonomy Extension modules Linear camera 128 pixels Bidirectional radio communication Tactile sensors Gripper 1 and 2 dof Solar panel

    22mm x 21mm x 20mm 40 mm/s 12 - 17 mW local IR 6cm, IR & radio10 m up to 10 hours

    Control Strategies 1) Two-stage control strategy for navigation: The local navigation is solved with 4 infrared proximity sensors. The robot avoids obstacles, can follow walls and detect distinguished features A wireless IR or radio link is used to remotely control the robot 2) Autonomous organization of a colony of robots trough interaction and local communication

    Projects
    Past activities 20 Alice robots at Swiss Expo.02 Navigation in small labyrinth: localization, map building Mini robot soccer kit for education Collective behaviour investigation RobOnWeb: 5 Alices controlled via Internet Ongoing projects LEURRE, mixed society robots-insects ANT, Evolution of Cooperation and Labor Division in Artificial Ants Extension with 3 proximity sensors, LiPoly battery and linear camera Expo at muse de la main Lausanne Future projects Bluetooth radio module New sensors: CMOS colour camera, nose, chemical Climbing micro mobile robot Alice in the micro-factory Tracking and piloting with an overall camera

    Results
    The micro robot Alice is used since 1998 in several projects by different research groups. We developed many extensions and adapted the control software according to the specific requirements. We acquired a deep experience and increased our knowledge of highly integrated systems and micro mobile robots. Soccer on A4 field

    Linear camera Radio Gripper

    Ra Collective robotics Off-road version Solar

    Gilles Caprari (gilles.caprari@epfl.ch) Roland Siegwart (roland.siegwart@epfl.ch)

    Autonomous Systems Lab http://asl.epfl.ch

    INSTITUT DINGNIERIE DES SYSTMES SCIENCES ET TECHNIQUES DE LINGENIEUR

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