RIS only robot that uses 1 motor for navigating following a line.
About this creation
Ant is a RIS only robot that I have built for a Trash Collecting event we had in Ann Arbor, MI. It uses 1 motor for navigating and 1 motor for grabbing/lifting the trash bin. It uses 1 light sensor for line following and 2 touch sensors to detect the arm position and the trash bin.
Ant also entered an Indy 500 contest in Lafayette, IN. There it was the only robot that was using only 1 motor and 1 light sensor to navigate the race course! Of course it didn't win... :-)
To navigate, it uses 1 motor and a differential. The differential is set up so when the motor turns the case forward, the wheels spin in different directions. The wheel that is spinning backward is stoped by a ratchet, so only one wheel moves forward at a time. Then the motor turns backward and the other wheel is stoped by a ratchet and so on. This robot cannot backup, but for neighter these events was necesary.
The arm was built after Gus Jansson's ideea found here: PuckGrabWGears . I just added another feeler to detect the trash bin.