Robo-Dumpster:The Autonomous Garbage Truck
Alan Hamlet
University of Florida
25 March 2010
Why an Autonomous Garbage Truck?
Save companies/government money– Grocery stores, amusement parks, cities– Cheap and reliable work– Can work 24/7
Create new industries– Building and maintaining robots– Any jobs lost will be counteracted
Proof-of-concept model
Obstacle Avoidance
Current Progress– 2 front IR’s– Turns only one way
Goal: smart turning– Left if right IR blocked– Right if left IR blocked– Back up if both blocked
Random turn
Gripper/Arm Mechanism
Gripper– Servo arm pulls gripper open with cable– Otherwise spring holds gripper tightly closed
May need stiffer spring for better grip
Arm– 343 oz.-in servo raises arm, gripper and object
Gripper/Arm Mechanism
Can successfully grip and lift objects
What’s Next
Finish programming CMUcam– Search for red LEDs on trash cans– Track green garbage collection area
Attach truck bed Fine tune behaviors in software Finish building garbage cans
Questions/comments?
Thank you
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