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| # MarkBot | ||
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| This will be the CAD/CAM files and software for building a telepresense | ||
| remote rebot. | ||
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| This is for a telecommuter to have a physical presence at a remote office. | ||
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| ## Status: | ||
| Wheel started. http://www.thingiverse.com/thing:18784 | ||
| Rough robot plan started, researching motors, gearing | ||
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| ## 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 | ||
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| ## 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) | ||
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| ### Batteries | ||
| - low fire hazard (no lipo?) | ||
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| ### Motor / drivetrain with encoders | ||
| - 3-4mph top speed | ||
| - power to open doors | ||
| - quiet | ||
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| ### Mecanum wheels / suspension | ||
| - some suspension so you don't get lift-off of Mecanum wheel going over bumps/thresholds | ||
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| ### motor servoing controllers | ||
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| ### 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 | ||
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| ### wifi links | ||
| - multiple links for smooth hand-off | ||
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| ### microphone array (6ish MEMS mics -> PIC32 -> usb) | ||
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| ### omnidirectional camera | ||
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| ### 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) | ||
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| ### speakers | ||
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| ### 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) | ||
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| ### chassis sensors | ||
| - internal mic | ||
| - accelerometer (vibration and jarring) | ||
| - temperature | ||
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| ### charger/dock | ||
| - self docking | ||
| - low voltage | ||
| - smart connection monitoring (current imbalance or high voltage drop across connector) | ||
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| ### local control | ||
| - emergency power off | ||
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| ### remote controller | ||
| - web, hardware, or software? all three? | ||
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