prfcttone2 / litter-collecting-robot

Masters degree semester project: autonomous litter collecting robot.

STI interdisciplinary robot competition

This project was completed as a Master semester project at École polytechnique fédérale de Lausanne.

• Authors: Karl Kangur, Marcel Starein, Chun Xie
• Assistants: Alessandro Crespi, Gorecki Tomasz
• Professor: Auke Ijspeert

Abstract

The STI competition is a interdisciplinary Master semester project in form of a competition between five teams of three people from different educational backgrounds. The competition's goal is to design and build a litter collecting robot and outperform the other robots. The teams are given funds in order to buy parts, order custom parts from the in-house mechanics or make use of the available 3D printers.

Project report

The complete project report with all the documentation is in Documents/Project report.pdf.

Video

Video of bottle fetching and detection demonstration

Pictures

See under Photos.

Files

• All documents related to the project (rules, deadlines) and the project report itself are in Documents
• Documents related to sensors are under Datasheets
• First concepts in Google SketchUp, final parts in SolidWorks format and custom PCBs in Hardware
• The complete source code for the Raspberry Pi, Arduino code for the PRsimino and the custom WildThumper motor controller are in Software
• Pictures of the robot are under Photos
• The Webots files for the simulation are in Webots simulation