ERO 3.5 Upgrades

The ERO 3.5 upgrades were completed in September, 2009.

  • Replaced 3-sensor line tracking array with 7-sensor array based on Sharp IS471F sensors.
    The objective of tracking an oval course while maintaining decent ground clearance (2.5") has finally been met.
  • Added a 3rd level (another 18" diameter x 1/4" translucent acrylic circle) upon which is:
    • An arm: CrustCrawler SG5-UT
    • A camera: (CMUcam) mounted just above the arm's gripper assembly
    • Microphone & speaker (moved up from 2nd level)

*** Click on any image to enlarge ***

7-Sensor Line Tracking Array

LED driver board
Drives IR LEDs below in parallel with visible LEDs here

blank PCB top

CrustCrawler SG5-UT Arm & CMUcam

Front
Front Left
Left
Gripper & Camera
CMUcam

Full Floor Views

Bottom
1st Floor (Drive Train)
3rd Floor (Interaction Layer)




V3.6 upgrades return to ERO 3 page