T A P E

Two Arms Plus Eye

Tape is to be a Subsuption based robot with a general purpose low level body and a high level vision system in parallel. The body will consist of a differntial drive base and two arms with four degrees of freedom each plus gripper. A MC68HC11A1FN based controller will reside in the body. The robot will have many sensors other than video possibly including IR, Sonar, Audio and contact. The vision system will be a Connectix Color QuickCam with off robot processing on a Power Mac 7100/66. The robot could be made fully autonomous by strapping on a PowerBook.

The HC11 controller will be a signifigant upgrade over my previous robots because all of it's memory will be Flash RAM, allowing life after power down.

picture of edge filter output This is a picture of the output of my edge detection filter. It runs in 256 gray mode. It works by directly accessing the screen bytes and doing pointer arithmetic. My program runs in foreground while the Connectix software runs in background so that I don't have to mess with QuickTime stuff.

See what became of this project.

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