GROK2

GROK2 is the second of a series of mobile robots intended primarily to test and develop stereo vision based SLAM algorithms.  The robot has two stereo cameras, built using Logitech Quickcam Pro 9000s, with one looking forward and the other looking in reverse mounted on a pan and tilt mechanism.  The tilt axis is linked to both cameras, such that they look upwards or downwards together.  The stereo cameras are deliberately mounted at approximately the same height as human eye level, so that they see the world from a similar perspective and can observe table surfaces and other things typically of interest.

The robot uses an onboard laptop, linked to an assortment of Phidgets devices for motor control, wheel encoder feedback, passive motion sensing, ultrasonic collision sensing, joystick and start/stop buttons.  The joystick is used for manual training or data gathering, and is either bolted to the top surface or may be detached and used at a distance.

The robot is currently tethered, but there is adequate space for a large car-sized battery and fuses are in place to protect the electronics.