Groundhog knee deep in mine muck.2D mine map produced by Groundhog.3D mine map snapshot produced by Groundhog.Ferret1 deployed into the Mellon Institute void.Second generation Ferret with higher power laser range finder.Ferret2 scan of a limestone mine after a domeout, Kansas City, Kansas.Borehole deployable, inflatable mobile robot concept.
Body of an ATV, Soul of a Golf Cart
Golf Cart Wiring
Controlling the Current
The Brain Behind The 'Bot
Lasers and Cameras and Lights, Oh My
Field Trials
Spec Sheet
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Body of an ATV, Soul of a Golf Cart
The motor, black box speed controller, and relay-based h-bridge.  Note: Hammer not part of control circuitry.Golf Cart Wiring

With the drive train of a golf cart powering Groundhog, it was only logical to use the circuitry from a golf cart to control Groundhog. Most golf carts use a brushed DC series wound motor. In order to control the direction of motor rotation, four relays were used in a standard H-bridge configuration to provide three states for the motor: Forward, Reverse, and Off.

The original golf cart from which these pieces were optained only had a total of six high power relays. Therefore, with the aid of a highly questionable circuit layout, the linear actuator that controlled the steering angle was controlled using only two relays.

Finally, speed control of the motor was provided by a black box motor controller with a simple potentiometer input. The potentiometer was combined with two double pole, double throw switches into a button box that controlled all of Groundhog's actuators. Initial experiments with Groundhog at the Bruceton Research Mine were conducted with this type of control.

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