Home Robot Evolution - GoPHR

oregontrimmingAI and Robotics

Nov 2, 2013 (4 years and 6 days ago)

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Home Robot Evolution
-

GoPHR

914 Bot, mobile
computer,

Home security,
voice command,

no functionality.
~$2000

Roomba (et al)


single
function (
vacuum, mop)
~$200.

GoPHR
-

General Purpose Household Robot
, single
platform, multiple off the shelf tools for vacuuming,
mopping, pickup.
Ideal future robot


Multi
-
functional (mop, vacuum, dust, pick
-
up

Mobility to include 3 dimensions (stairs)

Manipulation (doors and drawers, sneakers)

Automatic navigation, power management (return to
charging station)


Alan Federman


Homebrew Robotics Club

anfederman@comcast.net

PIMP


Pneumatically Influenced Mobility Platform


COTS components


Uses BEAM principles to adapt to terrain


Low complexity

Alan Federman



Homebrew Robotics Club


anfederman@comcast.net



Ideal future robot


Multi
-
functional (mop, vacuum, dust, pick
-
up


Mobility to include 3 dimensions (stairs)*


Manipulation (doors and drawers, sneakers)


Automatic navigation, power management
(return to charging station)


* (The next generation)

The Future of Home Robotics

Introducing GoPHR


GoPHR General Purpose Household Robot


1
-

2 (can pick up shoes)


3
-

4 (can clean the floor)


5


6 (pick up sticks


return silverware to
drawer)


7


8 (can go out the gate
-

fetch newspaper
from outside)


9


10 (can do it again


self maintainable)

GoPHR

The nursery rhyme is a device to lock
-
in the
functionality requirements. A GPHR can do
multiple useful things around the house, and
some of them are pretty challenging. For
example Roomba can vacuum, but if a pair of
sneakers is in the way, it can try to clean
around them, but maybe get caught in the
laces.

GoPHR

The GPHR will evolve over time. A Level 1 GPHR

Will be able to both vacuum or mop, pick up or

Move obstacles (placing them in their proper


locations. It is capable enough to return to

base, and select the proper tool for the job.

A Level 2 GPHR can open and shut doors and


drawers, and put away silverware.

GoPHR

Level 1 and level 2 will be at the bounded autonomy level. They
can do simple things by themselves but will ‘phone home’ if
they get in trouble. Instructions can be sent via mobile or
static web connection
-

so a smart mobile web cam with an
attached tool is a good description.


At Level 3 the GPHR will be able to go outside and fetch and
return the newspaper (It will be smart enough not to do this if
the weather is lousy. A level 4 GPHR will be able to climb stairs


and freely move to any room in the house including the front
and back yards.

GoPHR

The first step is to design a platform that can
support snap
-
in
-
tool functionality. This
platform needs to have evolvable sensor
packages (RFID, vision/obstacle detection).

Consideration of mobility in 2.5 or 3 dimensions
is vital. Finally the interface needs to
integrated into the existing environment
(Remote web? 802.11?)


GoPHR

Type 1 GoPHR prototype semiautonomous
-

RC with touch and
ultrasonic obstacle avoidance. Uses COTS sweeper.