Hardware
Wheelchair
The wheelchair serves as the primary platform for the autonomous mobility system. It integrates various sensors and computational units to enable autonomous navigation, teleoperation, and real-time perception.
Seat
We use 1010 aluminum extrusion to serve as the base of our seat, and we install the seat on this structure.
Jetson Orin
- Installed an NVIDIA Jetson Orin module as the primary compute unit
- Configured wireless connectivity by setting up an M.2 wireless card, ensuring reliable communication with the ROS ecosystem and external controllers.
RGBD Camera
- Mounted a ZED X Camera onto the wheelchair platform, ensuring a stable and vibration-free setup.
Ouster LiDAR
- Designed and fabricated a custom mount for the Ouster OS1 LiDAR to achieve an optimal field of view.
