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HUTMAN

Helsinki University of Technology's autonomous navigator

For the physical robot society implementation a small-scale autonomous mobile robot called HUTMAN (Helsinki University of Technology's Mobile Autonomous Navigator) was built. It provided the needed test-bench for developing suitable structures for the model society’s members.

The chassis of the robot has a diameter of 15 cm and the robot is 14 cm high. HUTMAN uses transputers, infrared communication links, narrow beam ultrasonic sensors and has bumpers for collision detection. It has two driven wheels, both controlled by a stepper motor, and four balancing swivel castors. To give HUTMAN the ability to accomplish the stone collecting task, a simple one degree of freedom gripper was applied to it.

The robot is completely autonomous; it can operate approximately 40 minutes without energy refuelling and the processing takes place only in the processors located onboard.