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GorakOne:
GorakOne is the project name. There were other names to consider. Originally it was the SimpleMachine
and also, the MotorSys. At one time it was considered that if R2D2 was a robot name, then why not UnitWD40,
instead of Gorak. In the end the name Gorak was chosen from the B&W low budget horror movies, also known as
B-movies. This name is more human than mechanical.
For now the name will do. But when the robot is finished and ready for alpha testing,
the investors will decide on the appropriate product name.
As mentioned before, GorakOne is designed for the Geriatric Wards. It works best in a regimented,
periodic slow controlled environment. For this first
pass the vision system is using "compound eyes". Same as some insects. The robot system is autonomous, and
its major efforts to complete its tasks, are getting from point A to point B. Avoiding obstacles on the way,
then confirming that it has reached the destination at point B. Once confirmed it will start the task to the end
with programming for contingencies.
Mechanically this robot is designed to be self sufficient. It has the mechanical flexibility to get back
up when it falls, and be able to navigate simple stairs. Its design is to float(roll) on its back, up a set
of stairs. The robot height is over four feet high to be able to roll up a set of stairs and turn on the stair well.
It too uses the same hand design as the torsoHead and GorakTwo and should be able to carry a payload.
This machine's software will also accept commands in plain conversational English
or any other language with similar grammatical constructs. When the robot cannot
understand the conversation, it will assume that it is not a command and will
change it's response to an
Eliza
type conversaional exchange.
To make it possible for this software to understand commands in plain
English, the speaker must learn to speak such that the software
will interpret the commands. The same norm as users learn to use
an Entertainment Center remote control.
Click on the images to enlarge.
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GorakOne after the trip from San Jose CA to Austin, TX.
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For this prototype stage, GorakOne is built using PVC pipes and fittings.
For reliability, performace and endurance, the finished product will be made
of aluminum and some customized parts will be made of plastic or sheet metal.
For now PVC is just right, it's inexpensive, strong and readily available.
Changes can be made at little cost and in little time. Therefore there is no
need for wasteful engineering meetings with Dilbert type managers to make simple
changes that will meet specifications.
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GorakOne's normal resting posture. It's posture could also be with both arms
pointing up, or pointing down. But this is the normal posture that it will
have when traveling with a payload on the "utility tray".
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This view is showing the left compound eye and the robotic "red eye". In this case
it's not red but white. The compound eyes will be used to take it from point A
to point B. These light sensors will be used to navigate the robot around immobile
objects or obstacles but not around the living. They will have to move out of the
way. The compound eyes work the same as the light sensors on the IQ100.
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In the normal resting posture the hand will grasp the handle, but do nothing
with it. Since it's just a rest for the arm. It also protects the payload on
the utility tray, from being knocked off by obstacles that it may come in
close contact with.
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This is a closer view how the hand loosely holds the rest. Inside its frame
can be seen a 5 lb weight to simulate a payload. This is to test how deep
the tires will sink into the carpet.
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For most normal tasks the arm would not be used in this horizontal position. One of
the tasks that it needs to have the arm in this position is when it has to open the
refrigerator door.
Most of the time it will be at an angle. Depending on the task to complete.
For this task, it's horizonal, to illustrate that the shoulder joints can move up and
down the "vertical ways".
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The shoulder joint, is moved up and down via power provided by the drive motor.
The entire robot is powered by one motor. This motor provides the power for
locomotion and the limbs. The power is tapped into via clutches and brakes.
The arms rotate on a shaft within a shaft whithin a shaft on the shoulder
carriage joint shaft. The two compound eyes will have their own positioning
motors. That will be used for triangulation.
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This photo shows the AudioVisual feeback red/yellow/gree apparatus. This is
not for controlling traffic, but instead it is used to control the speaker speech
flow. The Green will glow, when it's listening and ok to speak. It's more like
the "command line interface" prompt. It will mean, "i'm listening, go ahead and
speak". The Yellow, is for wait and of course the Red means to wait, don't speak
, "I'm not listening" or "I can't hear you".
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The AudioVisual signaler, can be viewed from almost 360 degrees. In this photo
it can be seen from behind and to the left. The gorakOne audio input is made
up of more than one microphone. It will probably take about six microphones.
Three on each side.
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In this view, the AudioVisual signaler can still be seen even when the compound
eyes have moved closer for triangulation. The signaler in at this stage of
development, is simple, Red/Yellow/Green, but for the multiple microphones
other colors and patterns will be used.
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GorakOne completed the task, preparing the serving tray, at point B and ready
to return to point A, where the command originated at.
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A different view of the finished task at point B.
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GorakOne in the hallway returning to point A. GorakOne navigates from point to
point using it's compound eyes to see visible light in its environment.
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View of GorakOne with right arm in place and temporary hand, made of cardboard.
Notice the right shoulder assembly lower than the left shoulder assembly. This
is normal, since the shoulder joint assemblies can travel up and down the vertical
ways.
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More details and pics coming soon. Web page last updated; Jan 8, 2007.
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| Copyright © 2003-2007 by sbcRobotics, ALL RIGHTS RESERVED
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