|
|
| Anterior view. Two of the forward-facing infrared distance sensors are visible. The holes in the anterior panel underneath the mushroom head are remnants from the centrifuge's control knobs. |
Left lateral view. You can see two of the infrared distance sensors just underneath the mushroom head. Right at the ventral edge of the mushroom head is a cutout for access to the microcontroller's serial port. |
| |
|
|
| Right lateral view. Yeah, those are salvaged inline skate wheels attached to the drive motors. Cheap wheels that don't slip on their rims are hard to come by. |
Left post-lateral view. Aside from the two power switches, you can also see part of the posterior suspension. The little black, cylinder-shaped rubber parts are used for suspension as well as shock absorption (in the original centrifuge, these were attached to the spinner buckey to dampen some of the wobbling). |
| |
|
|
| View of the "pop-top". Handy enough for quick access. |
Ventral view of the robot base. Visible are the two posterior drive wheels and their motors, and well as the two anterior caster wheels. |
| |
|
|
| Inside dorso-medial view of the mushroom head. Some of the electronics are present in this photo (at the time of this photo, I was in the process of switching from an OOPic-R microcontroller to a BasicX-24). Also visible are the NiMH battery packs that power the electronics and sensors, and the two lead acid batteries that power the motors. |
|
| |
