The robot was built from inside out in the University of Minho Robotics Laboratory (mechanics, electronics and software) with the purpose of optimization development costs, and resources.
The early concept was initially drawn in CAD software in order to test if all components would fit physically. A physical bottom layer grants the movement of robot where 3 omnidirectional wheels are used to drive and steer the robot, along with the batteries and all the electronics that control the robot are placed. The second layer is where are located the processing units. On the third layer are the structural elements of the articulated arm. On the top of the robot is the vision head.
We have large experience on omnidirectional wheel control, speed control, computer vision, etc.
The omnidirectional wheels used on this robot were designed by the team and manufactured specifically for us by a Portuguese company.
