MarkBot

This will be the CAD/CAM files and software for building a telepresense remote rebot.

This is for a telecommuter to have a physical presence at a remote office.

Status:

Wheel started. http://www.thingiverse.com/thing:18784 omnicamera started. http://www.thingiverse.com/thing:20277 Rough robot plan started, researching motors, gearing

Should include:

• quiet mobile platform for carpet and hard flooring
• navigation omni-camera
• 2-way video conferencing with multiple microphones
• multiple wifi connections for overlapping hand off, possibly backup low-rate link
• a way to move locally for dealing with a failure
• ability to dock/undock for charging without local help
• ability to open (heavy) doors
• battery power for a few hours minimum of teleconference plus 15 minutes of movement

Major components:

Chassis

• Heavy enough to push doors open
• easy to open for maintnance
• soundproofed
• low CG, but tall enough for a comfortable converation
• low chance of collision/spin injury to other people -- round, no protrusions, covered wheels
• casters for moving when broken
• tower should be able to have ne things added on easily, and sturdy enough to operate an arm (for door knobs)

Batteries

• low fire hazard (no lipo?)

Motor / drivetrain with encoders

• 3-4mph top speed
• power to open doors
• quiet

Mecanum wheels / suspension

• some suspension so you don't get lift-off of Mecanum wheel going over bumps/thresholds

motor servoing controllers

Core cpu (sheevaplug/dockstar/raspberry pi)

• enough capacity to process cameras, mics for transmition
• ideally enough CPU to process mics for source separation on-board
• ideally enough CPU to have some visual self-driving ability to help overcome control lag

wifi links

• multiple links for smooth hand-off

microphone array (6ish MEMS mics -> PIC32 -> usb)

omnidirectional camera

front camera

• movable -- direction, and height (for interacting with sitting people). maybe should be able to move in to / over a table (for sitting at a meeting)

speakers

display

• 7ish inches. (Nook color since I have one?)
• movable -- direction, and height (for interacting with sitting people). maybe should be able to move in to / over a table (for sitting at a meeting)

chassis sensors

• internal mic
• accelerometer (vibration and jarring)
• temperature

charger/dock

• self docking
• low voltage
• smart connection monitoring (current imbalance or high voltage drop across connector)

local control

• emergency power off

remote controller

• web, hardware, or software? all three?