iRobot Create with CMUCam and Arm (video)

This is an iRobot Create fitted with a Robot Arm I pulled from an old Radio Controlled vehicle. It uses a Propeller Protoboard and motor controllers and accelerometers from Parallax to control the Arm and monitor it's position using the two accelerometers mounted on the arm. The Create is controlled by another Propeller and uses a CMUCam1 for Color Tracking to track the object. A Sharp GPD120 IR ragne sensor is used at the Claw to determine when the object is close enough to grab.

The robot is tracking the color, driving up to it until it senses the object within it's grasp, stops, grabs the object, and raises it up. Simple example of great possibilites. And this isn't even in ideal lighting.