WALL·E Inspired Robot Project
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Here there is a few more WALL·E photos and a list of his features presented.
"More..." below either leads to additional description or to the additional links which may help to find additional information.

General Features

Hardware

• OLIMEX LPC2378-STK development board used as Wall-e controller. More...
• OLIMEX ARM J-TAG (parallel port driven) for flashing and debugging. More...
• Lynxmotion tri-track chassis kit. More...
• L298 integrated circuit based motor driver (self-developed). More...
• Main interface board (self-developed) to connect various sensors and actuators. More...
• Supportive interface board (self-developed) with angular rate sensor (ARS), front light source detector, and back daylight sensor. More...
• Tracks optical encoders (self-made). More...
• HITEC HS-325HB servos for the arms (left and right) and for the head. More...
• Sharp GP2D12 distance detector. More...
• HC-SR04 Ultrasonic Sensor (US) (distance detector). More...
• EasyVR 3 a multi-purpose speech recognition module (VRM) plus a speaker and microphone. More...
• KPX 612 05B Dynamic buzzer. More...
• Three battery packs for servo, tracks and electronics powering. More...
• Dimension: 30[cm]x30[cm]x37[cm] (11.81[in]x11.81[in]x14.57[in]). More...
• Weight (with batteries): ~2.5[kg] (~5,51[lbs]).

Software

• Assembler, C and C++ written software. 179kB executable (optimization turned off). More...
• Layered software architecture. More...
• uC/OS-II Real Time Operating System (RTOS) to assure real-time multitasking. More...
• C++, object oriented RTOS wrapper (self-developed). More...
• C++ template based publish/subscribe middleware (self-developed). More...
• Instead of C and C++ standard libraries self-developed functions are used. More...
• Self-developed memory management for full control of C malloc/free and C++ new/delete functions. More...
• 13 so named managers (subscribers/publishers) and all together 17 RTOS tasks. More...
• 2D occupancy grid (3x3 cells) with distance sensors fusion for obstacle detection. More...
• (Naive) path planning based on 2D occupancy grid. More...
• Wall-e tilt detection. More...
• Simple Wall-e Graphic Library for LCD display management (self-developed). More...
• Wall-e Simple Sequencer (interpreter) for basic action and move sequencies programing. More...
• Basic voice command control. More...
• RS-232 (serial) interface for diagnostic and debugging (with build-in debugger). More...
• 3 main functions (voice, onboard keyboard, or remote control selected):
  - Bath - gets my wife from the bath
  - Test - a few move sequences to check hw/sw
  - Enjoy - some simple Wall-e movement
  More...

Software Development Environment

All development environment (except Windows OS was free).

• Windows XP host development environment. More...
• Cygwin 1.7.13 toolset. More...
• GNU ARM toolchain with gcc 4.1.1. More...
• OpenOCD to debug with GDB and Insight Debugger. More...
• Eclipse 3.3.2 (Europa) with CDT (Note: Eclipse requires Java Runtime). More...
• H-JTAG software version 0.6.1 for LPC2378 flashing. More...
• Easy VR Commander for Voice Recognition Module programming. More...