Overall View of Rollie
Front View showing Heat Sensor, IR avoidance module and Beeper
Top View showing servo disconnect circuit to save power
Specifications for 'ROLLIE"
ROLLIE has only two wheels to roll on; each wheel is a pair of CD discs with a foam center. The foam center conforms to the surface and helps provide traction with the floor. The robot's battery pack is toward the bottom and lowers its center of balance. Rollie can move forward, backward, stop and turn upon its center.
A 16F84 PIC microcontroller from Microchip, running at 20 Mhz is the brain for the robot. Programming can be downloaded "in circuit" using a serial link with a PC. Rollie is
programmed in Basic using Pic Basic Pro(c) from MicroEngineering Labs.
Each wheel is driven by a servo modified for continuous rotation. The servos can be completely powered down using a Mosfet as a switch under software control. This conserves considerable power.
IR emitting LEDs are pulsed at 38kc and integrated circuit receiver modules tuned to this frequency, are used to detect and avoid obstacles with very little interference from other light sources.
A separate 38kc receiver is used to receive command instructions and detect an IR beacon for location purposes. To prevent interference from the IR emitting LEDs, the 38kc receiver is read between avoidance routines. A heat sensing PIR (Passive InfraRed) motion sensor is used to detect people or hot objects.
Four "AA" alkaline Rayovac(tm) rechargeable cells provide power for about 2 hours before recharging is necessary.
Rollie's autonomous behavior can be interrupted using a specially made IR remote control to help guide the robot out of dangerous situations. An on-board mode switch can cycle the robot through different behaviors.
Rollie's primary mission is to move forward and avoid obstacles, find people and move toward them. A blue LED flashes and a beeper sounds at different times to alert people of its presence. If Rollie cannot find obstacles, people or the IR beacon, the robot will power down to "watch dog mode" and wait for stimulus. Future additions: replace foam wheels with conductive foam to allow charging through the wheels in contact with a "charging pad". An IR beacon at the pad will guide Rollie when charging is required.
Paper about Rollie (PDF)
Rollie, along with some members of the Botball Team representing Cesar Chavez Middle School at the 2003 Kaiser Hospital Earth Day.
Program Files for Rollie
Program written in Pic Pro Basic
rolly4.hex Hex file for rollie4.hex for use with a Pic 16F84A 20 MHz
blink.bas Test program that blinks rollie's red LED
blink.hex Hex file for blink.bas
MPG Movie of Whiskers
Slither at the 2002 RSA Winter Games at Fort Mason. Link Slither at the 1st National Botball Robotics Conference Link
Complete Report of the 2001 Robot Games at the San Francisco Exploratorium Link
Shortcut to photos and movies (from the above link)
Whiskers Rollie Whiskers and Rollie Slither(.mov)
of ROBOlympics 2004, Fort Mason, San Francisco
Botball 2003 Norman, Oklahoma
Robolaser Adding a laser to your robot
Cambot Interfacing the CMUcam to a Boebot
BaliBot An Inverted Pedulium Robot
Runs Interactive C
Get yourself a EAS Fingerboard, run IC4 (a free C compiler) and you have a "Mini Handy Board".
Project shows how to build a robot that uses the 68HC11 MCU and runs programs written in C.
high school robotics club entered RSA's mini sumo robot contest
Mini Sumo Robot.and needed someone to compete with. So I built "Bill's Bot".
FREAKS OUT NEIGHBOR!
Mark Sherman's Projects
Virtual State Machine An attempt to create a complete virtual machine interpreter.
Curve Tracer To investigate the I-V charteristics of iron pyrites a PC controlled curve tracer was built.
PIC-KEY Updated 10-31-04 A simple to make In-Circuit Programming Tool for PIC's
Comet Hale-Bopp in 1997? Here are some photos I made
while in Michigan.
Eclipse of 2002 Taking photos of the Sunset Eclipse.
Almost foolproof method to get the shot.
own projects and stuff.
(Bill Sherman) If you have any questions at:
This Site is Permanently Under Construction
Last update March 22, 2013