The __SR04__ robot was designed and built by David P. Anderson. From David's description:
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[{Image src='attach/SR04/sr04-front-49-thumb.jpg' link='attach/SR04/sr04-front-49.jpg' caption='SR04 Front View' align='left' class='imgFloatLeft' style='border: none;margin:3em'}]
__SR04__ is a small mobile robot suitable for exploring human habitats unattended. 

It is controlled by a Motorola HC6811 microprocessor running in an M.I.T. 6.270 CPU card, similar to the commercially available "Handy Board." Two 12-volt DC gear-head motors maneuver the robot in a dual-differential drive configuration, balanced by a
non-driven tail wheel caster and powered by a 12 volt 2.2 amp-hour sealed lead acid battery. 

Sensory input is provided by (in order of priority): front bumper switches, IR collision avoidance, stereo sonar ranging, photo detectors, passive IR motion detection, and shaft-encoder odometry. 
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It was David's fourth robot, hence the "04", a bit curious what the "SR" stands for (small robot?).



!! Links

* [SR04 Mobile Robot|http://www.geology.smu.edu/~dpa-www/robots/sr04/sr04.html], project description by David P. Anderson ([PDF version|http://www.cs.cmu.edu/~motionplanning/papers/sbp_papers/integrated2/anderson_sr04.pdf])
* [SR04 Mobile Robot|http://www.seattlerobotics.org/encoder/199806/sr04.htm] from the ''Newsletter of the Seattle Robotics Society''
* ''[Subsumption for hte SR04 and JBot Robots|http://www.dprg.org/articles/2007-03a/]'' \\
   David P. Anderson, 26 March 2007