Micro controller for wall climbing robots

The goal of this project is to construct a digital controller for a w all climbing micro-robot. There are two kind of wall-climbing micro-robots in the lab. One is called "Flipper",left, the other is called "Crawler",right. The restrictions such as small size, light weight and low power consumption must be complied when designing the miniature robot. The DSP chip TMS320LF2407 from Texas Instrument is selected as the controller for robot because of its high speed performance, its support for multi-motor control and the low power consumption. The components of the robot such as three DC servo motors, two suction pump motors, two micro valves, pressure sensors, touch sensors and limit switches are controlled by single chip LF2407 DSP.

        Publication:

Jizhong Xiao, Mark Minor, Hans Dulimarta, Ning Xi, R. Mukherjee, R. L. Tummala, " Modeling and COntrol of an Under-actuated Miniature Crawler Robot", Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, Hawaii, USA, OCt 29-Nov. 03, 2001.

Jizhong Xiao, Hans Dulimarta, Ning Xi, R. Lal Tummala, Controller Design for an Autonomous Wall-climbing Micro-robot Based on TI 320LF2407 DSP Chip, DSPS Fest 2000, August 2-4, 2000, Houston, Texas.

Jizhong Xiao, Hans Dulimarta, Zhenyu Yu, Ning Xi, R. Lal Tummala, DSP Solution for Wall-climber Micro-robot Control Using TMS320LF2407 Chip, The 43rd Midwest Symposium on Circuits and Systems, August 8-11, 2000, Lansing, Michigan.

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