TinyTerp: A FULLY AUTONOMOUS MOBILE SMART CENTI-ROBOT
Gateau III, George Mikeal
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A fully autonomous modular 8 cm3 robot is presented using commercially available off-the-shelf (COTS) components. The robot introduced is called Tiny Terrestrial Robotic Platform (TinyTeRP) which provides an inexpensive, easily assembled, small robotic platform for researchers to study swarm behavior. TinyTeRP can be assembled in 30 minutes and costs $51.50. TinyTeRP is fully autonomous, with approximately 10 minutes of run time, and the ability to travel over 20 cm/s with DC motors and wheels. Communication to other TinyTeRP robots and stationary sensors is performed using a 2.4 GHz IEEE 802.15.4 radio. TinyTeRP has the ability to interface with additional sensors modules and locomotion actuators, including a wheeled locomotion and inertial measurement unit (IMU) module. An additional legged platform module that uses thermally actuated polymer legs with a silver composite acrylic is discussed. Finally, TinyTeRP demonstrates the use of two control algorithms to interact with a fixed beacon using received signal strength indicator (RSSI).