MiniEric

MiniEric is a small replica of a butler robot, incorporating almost all features, like: object retrieval, interaction with humans, mapping, object recognition, text to speech, self charging, voice recognition (simple commands), ability to compete in several types of robotic competitions (line, maze, fire...). Some of the features are implemented, some are on the way. Because I need some things to run at the same time, I decided to split the functions over 4 Arduino compatible boards that I have designed and named R-Dev-Ino. The name comes from Robotic Development Arduino compatible. Each board has all regular Arduino pins with power and ground pins for easy servo and sensor use. Also, the boards have a prototyping area that I used to customise each board for a different function. The boards (I should say modules) communicate using I2C interface, that use mirrored pins to be able to stack the boards straight or staggered. The robot uses 4 modules at this time, one more will be added soon. There is a MotorController module that uses a SN754410 to drive a couple of Faulhaber motors with built in encoders. Then there is a ServoController module that takes care of the 8 servos: one for waist, 2 for shoulders, 2 for arms, 2 for pan/tilt head and one for a scanning sensor. A SpeechController module takes care of the VRbot voice recognition board and has a built in Text to Speech code that is sent as a PWM signal to a small amplifier and a 0.5W speaker. Also, this module has a serial 2x16 LCD to display sensor values and voice related commands. The current main module is the Mapper, that has a Nokia color LCD Shield to display mapping data. On the head the robot has a Ping)) sensor, a Thermopile array sensor, 2 long range Sharp IR sensors mounted at 90deg from each other and 45deg from head axis, an AVRcam and a LED bar to act as a mouth when the robot will speak. The sensor mounted on the scanner below the deck is a GP2D120 and is used for wall following or object retrieval. The arms can move independent (to point or wave) or together as a claw (to pick up objects). The robot has some programmed moves (stored in the EEPROM) and is able to play a small tune or beeps. A universal TV remote can be used to train the servo moves. An extra servo was added to actuate a spray pump to spray water to put out the flame of a candle used in Fire Fighting competitions. For more information and to see the different construction stages, take a look here: http://letsmakerobots.com/node/11353