Bugdozer by David Cook

Bugdozer is a miniature sumo robot designed to push an opponent out of a 5-foot diameter ring. In the central
Illinois competition, miniature sumo robots are limited to 10 cm width by 10 cm depth and a mass of no more than
500 grams.

Bugdozer features:
- Soft, hollow, rubber tires
- Aluminum scoop and body
- Motorola 68HC08 microcontroller
- Two infrared modulated object detectors
- Four front and one rear floor edge detectors
- 4-line by 20-character LCD for debugging

It took three calendar months (evenings and weekends) to design and build. Much of that time was spent learning
metalworking skills and redesigning body shapes based on prototype failures.

Problems encountered include:
- Building round wheels (Don't! Use off-the-shelf products)
- Using up too much weight in motors thus skimping on structural integrity
- Spurious object detection due to electrical noise

 $ 8 68HC08
 $30 motors
 $20 tires, hubs, gears, and underbody Lego pieces
 $20 emitters and detectors
 $20 rechargeable batteries
 $ 7 perfboard
 $10 nuts and bolts (literally)
 $ 5 switches
 $10 capacitors, resistors, potentiometers, transistors
 $15 aluminum
 $10 connectors
 $ 7 LCD
 $10 wires, solder, paint, glue, rubber bands, aluminum foil, latex glue, Velcro
The total is around $200.

The price doesn't include all of the tools (drill press, tap and die, 68HC08 programmer board), rejected parts,
and spare parts. The cost easily rises to ten times ($2000) if those costs are taken into account. Adding the
cost of my time increases the figure further still. The enjoyment I received makes the whole project worthwhile.

More information and pictures of Bugdozer can be found at http://www.robotroom.com/Bugdozer.html

Email: david@robotroom.com

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