From locomotion...

In the framework of our major project in mechatronics studies, we worked on "Zumo" robots called "Pushing Robots".

Why this project?

As you may have read in our previous articles, we are currently working on the RICA IV Project, which consists of improving a robot that investigates blind cells. The main function of RICA IV is to investigate blind cells. This cell may contain obstacles that could disrupt the movements of the RICA's mobile base or even deteriorate it. RICA IV is a very expensive investigative robot and limiting its deterioration when investigating is also part of our objectives.

The "Pushing Robots" are designed to clear the passage of the RICA's mobile base and to facilitate its movement. These robots will be completely autonomous. They will world in collaboration with the RICA's mobile base and between them too. These five robots are designed to work in "swarm" in front of the RICA's mobile base and move forward when the mobile base moves forward. A pushing robot must be inexpensive since its lifetime is severely limited.

Four groups of apprentices were made to design and develop each their own Pushing robot.

The following material was available to the students by the school for the development of the robot :

A "Zumo Robot" with its components:

• 2 stepper motors coupled to caterpillars.

• 1 gyroscope

• 1 compass

• 1 electronic card on which we directly incorporated an input / output (I / O) card to retrieve information from peripherals and thus be able to control the motors.

• several sensors (ultrasonic, infrared, on-off controller...)

• some softwares :