2009 – Lunacy

Game Animation:

Team Name: Gompei and the H.E.R.D.

Robot Name: Cobra-Goat

Summary For The Year:

With mobility being a huge limiting factor in the game, the robot devised by Team 190 this year had a swerve-drive platform that allowed the robot to rotate the wheels and drive in any direction. The system also implemented free rolling; a system of sensor augmented follower wheels to enable a sophisticated traction control program, which ensuring maximum maneuverability. The robot also had a wide, belt-driven pathway for Moon Rocks to be picked up off the floor and stored, and could hold up to 17 Moon Rocks at a time. Moon Rocks stored in the robot could be expelled rapidly into an opponent’s trailer at short range. The entire storage path could be emptied in 3 seconds, allow for ‘hit-and-run’ attacks, allowing the team to capitalize on the limited scoring opportunities. The shape of the pathway and the robot’s ability to strike quickly gave rise to the robot’s name, the Cobra-Goat. A camera mounted on top of the robot was able to track targets on the opposing goals, allow the Cobra-Goat to line up and score during the 15 second autonomous mode at the start of the match.

Competitions Attended:

  • Boston Regional (Boston, MA)
  • Annapolis Regional (Annapolis, MD)
  • FIRST Championships (Atlanta, GA)

Offseason Competitions Attended:

  • BattleCry@WPI 10
  • Bash at the Beach
  • River Rage


  • GM Industrial Design Award, Boston Regional
  • Johnson & Johnson Gracious Professionalism Award, Annapolis Regional

Team Pictures: None