For Toy Scale Prototype

Motor Driver : Ardumoto from Sparkfun

Tamiya gearbox with 2 x DC motor

Microcontroller: Arduino Duemilove 168 from Sparkfun

IMU : ADXL320/LISY300AL combo IMU (accelero + gyro)

For Big Scale Prototype I

We only changed to a high current motor driver and 2 hub motor. The sensor and the microcontroller we used are still the same.

Motor Driver: Sabertooth 25A 24V Dual DC motor controller

2 x 24v 180w Hub Motor (from goldenhubmotor)

Platform: We used a 10mm thick, 68cm(L) x 38cm(L) aluminium plate