This bachelor thesis is about the design of the Safety and Sensing module, which is part of the Environment Observation Module for Deci Zebro robots. This Environment Observation Module is developed at the faculty of Electrical Engineering, Mathematics and Computer Science (EEMCS) of Delft University of Technology. Zebro robots were not able to walk around without falling off things or without collide against obstacles. Also Zebro was not able to collect data of its surrounding or of its own position and orientation.
With the Safety and Sensing Module Zebro will be able to collect data of its surroundings such as light intensity, humidity and temperature and is equipped with lift and fall detection and over-current and internal overheat protection. Also the safety of Zebro and its ability to walk around safely are improved with this module.
Because Deci Zebro is not able to walk at this time, the module is not tested under real circumstances. In simulated circumstances the module works as intended.