Hardware Structure

Fig. 1: Hardware Structure

The complete hardware structure is shown in Figure 1. The control board, a self-developed modular electronic system, controls all hardware components. This separation simplifies the testing methods and gives the structure more flexibility. The intrinsic actuators, all motors for locomotion and for the robot arm, and all intrinsic sensors, as ultrasonic sensors, absolute encoders, CO2-Sensor and one IMU(ADIS16364), for leveling the pan/tilt system, are connected to the electronic board. Most of the extrinsic sensors are connected to a separate on-board computer (Zotac Z65 Mainboard with Intel i7), which is equipped with Intel i7-processor.