Mini Robot Known as Pico

Figure 1 

The circuit shows a greatly improved sensing over the Sandia bots as it includes infrared sensors to detect whether it is on the ground and even perform obstacle detection or follow a line.

In the schematic, the board was redesigned and had it made on a 0.5mm laminate. The main board parts include Atmel ATtiny44 microcontroller, Allegro A3901 stepper motor driver, yellow LED, analog ADM6713 battery monitor/reset supervisor, and some capacitors and resistors. The sensor board includes two infrared Sharp GP2S60 sensors and some resistors. It fits between the two axels and has a good view of the ground. One can also fit on each side above the wheels but below the main board.

A straightforward mechanical design is implemented although the gear is a mechanical beginner’s mistake consisting of a motor-mounted worm gear driving a thin-cut pinion gear on the axel for 9:1 reduction.

Rest of the project