| ROBOR Mini Sumo Robot
by Dale Heatherington
ROBOR is a robot designed to compete in autonomous
mini sumo contests. ROBOR is bidirectional, capable of running
equally well in forward or reverse. Even his name is the same spelled backwards!
ROBOR is also an acronym for "Roll Opponent Bot Off Ring".
Construction time spanned 3 months and was quite educational. I improved my metal working skills, learned about sonar and programming subsumption architecture.
Click here to see photos of the July 2001 mini sumo contest at the AHRC meeting. You may download a zip file with schematics and source code by clicking here . This information is not intended as instructions to duplicate Robor. In fact, it may be incomplete or erroneous. Use it at your own risk.
|Size||9.8cm(W) x 9.4cm(L) x 11.5cm(H)|
|CPU||Two PIC16F876-20/SP |
8K ROM 368 Byte RAM
|Assembler and C|
|Motors||Two Escap 280 RPM 12 v gear motors|
|Wheels||Four 1 inch diameter slot car tires|
|Drive system||4WD with timing belts|
|Pushing force||360 grams (wheels spinning)|
|Power||Single lithium 9 volt battery|
|Current||100 mA crusing, 290 mA pushing|
|Sensors||Four reflective IR sensors for edge detection
Custom 4 channel sonar to locate opponents
Fwd/Rev motion sensor (are we being pushed?)
|Telemetry||Linx TXM-418-RM (9600 baud 418 MHZ)|
Front view, covers removed.
Sonar sensor board visible. ROBORs sonar measures both
distance and amplitude in four directions to determine the
opponents location. The sonar code is written in assembler.
Main controller board visible.
Controller code is written in C.
Small green board in upper left corner is a
418 mhz 9600 baud telemetry transmitter.
White object between wheels is the 9 volt battery.
The protruding brass shaft is the tilt and movement sensor.
In/out movement indicates tilt, rotation indicates direction of movement.
Closeup of the top end of the tilt/directon sensor rod.
When rod drops down the black band is in front of the IR reflective
sensor indicating tilt. Rod rotation brings the white or black half
in front of the top IR sensor indicating forward or reverse motion.
When software detects tilt or motion reversed from desired it activates
an escape algorithm.
ROBOR is tested against the larger and heavier MOVIT OWI-9647
kit robot. ROBOR always wins.