|Team name:||Kamaro Engineering e.V:|
|Institution:||Karlsruhe Institute of Technology|
Robot – basic information
(W × L × H)
|Num. of wheels:||4||Turning radius:||60 cm|
|Rain resistance:||IP 22|
Robot – mechanical details
|Drive concept:||Four-wheel-drive, two differentials|
|Steering:||Four-wheel-steering with independent axles|
|Special characteristics:||Lots of traction and good ground clearance|
Robot – electrical details
|Powered by:||2x 22,2V, 5000 mAh, Li-Poly|
|Motors:||Dunkermotoren BG72x25CI (Traction)|
|Controller:||ARM Cortex M4 STM32F4 Board (CAN)|
|Sensors:||Camera:||Webcams (Logitech) and Industrial (Baumer)||Compass:||MEMS|
SICK TIM 551
|Mechanical:||Steering position encoders and many switches|
|Communication||W-LAN, Gbit-LAN, CAN, USB, UART, I²C, PWM|
Robot – Software
|Operating system:||Debian Linux (PC), Microprocessor Code (Master Board)|
|Programed in:||Java, C#, C++, C|
|Tools:||Visual Studio, Eclipse|
Robot – Strategy
“It's a marathon, not a sprint, unless it's a sprint, then sprint.”
Choose the longest obstacle free space in front of you as your path. Turn, if you think you have reached the end of the line.
“When in doubt, know your way out.”
See task 1, additional routines for obstacle detection an routing strategy
“Double-knot your shoes.”
Use two LIDARs to gather enormous amounts of data. Then make sense of it.
“Swiss army knife”
Pulling a trailer packed with surprising features.
Robot – Investment
|Work hours:||Approx. 20 – 30 Students x 3 years x 10 hrs./week|
|Other:||Countless individually designed and manufactured parts|
Supporting association of the MOBIMA chair
Supporting association of the students of the KIT
Many Companies supplied parts for free or at discount (SICK, Dunkermotoren, Nozag, Igus, Conec, Weidmüller, Metallbau-Schreiber, Kern, Baumer, Pepperl + Fuchs, Bosch Rexroth, Mädler)
Many individuals at the KIT helped us to unbureaucratically use time and resources scattered around the university.
Problems / Challenges
Managing the cooperation in a large team.
Finally unleashing our competitive advantage in mechanical and electrical engineering.
Gathering resources for our work. (Sponsors welcome!)
Avoiding over engineering.
Avoiding under engineering.
Complex software – complex bugs – lots of cookies and coffee.
Introducing reliability and performance upgrades to mechanics, hardware and software.
Calibrating the Ballmer peak.