This is our (mostly) complete robot for 2011. The minibot deployment system remains at our lab undergoing design revisions.
The major features are:
-- Octocanum Drive that couples mecanum wheels with pneumatically lowered traction wheels for enhanced maneuverability without sacrificing pushing power.
-- Field-oriented drive while on mecanum wheels, tank drive while on traction wheels. Seamless transition between them.
-- Neutrally bouyant four-bar linkage coupled to a RS550 motor at 570:1.
-- "Whisker" tube manipulator releases tubes onto pegs from above, eliminating interference while scoring. It can load easily from human player or from the floor.
-- Three non-powered omniwheels with encoders.
-- LED-based human player signaling system
-- Camera assisted scoring
Video:
Basic autonomous mode test --
http://www.youtube.com/watch?v=eoHDdyRu0Zk
Driver hopeful test --
http://www.youtube.com/watch?v=_5y2p_GcSnw