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Autonomous Stair Climbing Vacuum
Full Suite of Sensing with On-Board Power and Compute
Use Case
Autonomously climbs and vacuums full area of steps! Uses distance sensors and limit switches for state recognition and a ROS-managed flow chart for state transition logic. Includes on-board power-distribution board and Nvidia Jetson for untethered operation!
My Areas of Focus:​
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Power and sensing systems design
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Power distribution board design and fabrication
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Motor selection and control
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Full system wiring and integration
System Diagram
Power Diagram
Power Distribution Board
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Three buck converter circuits, 2 for 12V/10A and 1 for 5V/10A
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Three relay switches for power control to brushed/stepper motors and Jetson
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JST connections for all sensors, motors, and the Jetson
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Fuse protection for all power subsystems
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Through-hole design for rapid assembly and easy rework
Generalizable Logic
​The robot can generalize to any staircase using robust distance sensor measurements and a logic flow managed with ROS on the onboard Jetson
Design Highlights
Meet the Team
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