Wall-Climbing 
Drawing Robot

To learn about the robot, watch this video or see the poster. These include high level objectives as well the embedded devices and control software that bring the robot to life. 

The robot is equipped with four wheels, the front two which are motorized. There is high speed motor at the center of the robot that operates a propeller. The propeller pushes the robot against a wall, allowing it to "stick." The robot also comes with a servo that can be activated to press a pen against the surface it drives on, enabling it to draw. In order to actually move, the robot receives commands via Bluetooth.

To control the robot, users can operate an LCD touchscreen. It function in two modes. In the first, a video game controller is displayed on the screen. Thus, users can manually control the robot. In the second mode, user can draw shapes that the robot will then draw. Time-based open-loop control is used to navigate the robot towards specified setpoints.