ARM-Cortex M3-Based Two-Wheel Robot for Assessing Grid Cell Model of Medial Entorhinal Cortex: Progress towards Building Robots with Biologically Inspired Navigation-Cognitive Maps

Figure 5

Constitutive parts of robot: bumper, bumper sensors (switches), tilt sensor, Bluetooth module, Arduino Due board number 1 (this implements the GCs, i.e., (3), (4), and (5)), Arduino Due board number 2 (this implements the trajectory tracking as proposed in [16]), motor driver L298N [19], photodetector, wheels and motors (gears are fixed to wheels), small freewheel, color camera TTL OV5642 [17], and slotted disk.