HMMWV

grabcad

At KIT, I collaborated with Maximilian Hess on building this project; he handled software development. Further details can be found on GitHub (https://github.com/ne0h/hmmwv). Our medium-sized robot, HMMWV, performs the following tasks: remote control driving, autonomous navigation, step and stair climbing. The sturdy aluminum profile chassis and y-shaped wheel mounts with three individually tilting wheels each are controlled by two high torque EC maxon motors. Powered by a 60 W motor, the wheels at the mounts connect via chain drives on either side for optimal mobility. A tail omni-wheel stabilizes the robot when climbing obstacles to prevent overturning. For orientation and path finding, HMMWV uses a Sick (LMS 100) lidar system that sends a two-dimensional laser scan to its main processing unit - an x86 computer by Gigabyte. To enhance spatial awareness in three-dimensional environments, we mounted the sensor on a slow rotating platform.