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More details of both projects will be posted here as soon as I have the time
Minature Co-operative Stair Climbing Robotics
This was my third year project, and all work was carried out jointly with Tom Gregory at Reading University Department of Cybernetics.
The basic brief was to design a group (>2) small robots which would co-operate with each other to climb stairs of a greater step height than the height of the robot. Our final solution was a herd of 4 cylindrical robots which used electromagnets to dynamically connect themselves together in order to climb stairs. This was very much a proof of concept project, and as can be seen from the videos the robots are still using umbilicals. However the project worked successfully, and we demonstrated that the entire herd climb a set of stairs.
Conference Paper (80KB Word .doc format)
Final Project Report (3MB Word .doc format)
Control software source (10KB gzipped tar file)
Simple animation of stair climbing sequence (122KB GIF)
Video of robots climbing in DivX5 format (12.5MB)
Same video in MPEG format (19.1MB)
Decoupled Behavioural Arbitration Within Reactive Architectures...
This was my fourth year project. It was an individual project but based upon work carried out by Martyn Lewis for his PhD research in 1997.
More details soon, for now just a few files...
Conference Paper (280KB Word .doc format)
Final Project Report (1.5MB Word .doc format)
Ego Software (40KB zip file)
Motor PIC code
Ultrasonic PIC code
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