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Neptune Mobile Robot This project is no longer active. Head: Hans Moravec Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213 Associated lab/group: Mobile Robot Lab For more information, see this project's homepage.

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Project Description

Neptune is a three wheeled robot trike. The front wheel both drives and steers and the two rear wheels are passive. It's a very simple motion control system and even simpler power system. This means it works, and works well, and worked for over six years through different projects.

The steering and drive motors are synchronous AC motors controlled through relays. An onboard 68K board provided timing signals and turned relays on and off for motors and accessories.

Neptune's sensors included stereo vision and a ring of ultrasonic time-of-flight sensors.

Past members

	Name	Title	Email Address
	Kevin Dowling	Project Scientist
	Hans Moravec	Adjunct Faculty (Adjunct)	hpm@andrew.cmu.edu
	Gregg Podnar	Program Manager	gwp@cmu.edu

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• NEPTUNE: Above ground Storage-Tank Inspection Robot System
  H. Schempf, B. Chemel, and N. Everett
  IEEE Robotics and Automation Society Magazine, June, 1995. [Abstract]
  Download: pdf [665 KB], ps.gz [7342 KB] copyrighted