InspectorBot
Articulated 4WD Inspection Platform
Executive Summary
Developed an articulated 4WD inspection robot for an engineering capstone project, incorporating IMU-based camera stabilization and autonomous navigation. The primary goal was to maintain a level horizon for the operator while the chassis traversed obstacles.
Technical Key Takeaways
- Designed an articulated chassis in SolidWorks to maximize wheel-to-ground contact.
- Integrated an HC-SR04 ultrasonic sensor and IMU for obstacle detection and stabilization.
- Utilized ROS2 for the software stack, handling sensor fusion and motor control.
The Process
The build involved iterative 3D printing for rapid prototyping of the suspension components. The final assembly required precise wiring and power management to ensure the Raspberry Pi and motors shared a common ground without interference.
