Design Considerations for Robo Bonobo #2
( a hardier version of "proto robo bonobo")

1. navigate all floor spaces inside Bonobo building including visitor areas, ape enclosures, and offices.  The floor is generally wheel chair accessible level concrete with a few sills and no steps.  It should fit through doors.
2. navigate the ape playyard and outdoor visitor area consisting of fairly level asphalt, concrete, gravel, low weeds, small rocks and branches, dirt and sloping areas leading to a lake.
   • see pictures of site on GATI web page
3. tight turning radius, so it can more or less spin in place
   • Frame  -- based on Brad Graham's  robot "Oberon" described in "Build Your Own All-Terrain Robot"  

   • Brad Graham's "Oberon"

   • Motors and Wheels  -- the picture below shows the Invacare P9000 XDT wheelchair I bought on eBay for parts... $400, never used. The drive wheels are 12.5 in diameter, front wheels 8 in. Hopefully we will have access to the main shaft to install optical encoders for PID speed control for governing top speeds and driving in straight line. Here are the manufacturer's specs.

     

   • Battery  24 Volt power supply from two 12 volt gel batteries or SVR

     

     Battery charger - automatic computer controlled to avoid overcharging

   • not waterproof from below so can't wade in lake
4. support and carry around one bonobo, up to about 250 lbs.
   • large diameter (~14 in) pneumatic drive wheels
   • steel frame
   • plywood and fiberglass shell.... like Oberon's which can support around 250 lbs
5. Non tippable.  Rugged and heavy enough so apes cannot easily pick it up and throw it.
   • lower to the ground the better, but this may be a problem if room for mask and lifting mechanism is required
6. shell should be weatherproof and waterproof from the top and should be able to handle rain, urine or mild hosing from above
   • plywood and fiberglass shell.... like Oberon's
7. all electronics and dangerous moving parts inaccessible to apes
8. controlled by a heavy duty wireless joystick with buttons
   • already have industrial joystick with 2 red buttons, one to raise mask, one to squirt gun
9. differential drive (bot turns by wheels going at different rates)
   • mixing handled by on board IFI robot interface microprocessor board -- PIC microchip programmable in C
10. second over-riding safety joystick for humans to use to stop the bot or get it unstuck
    • trigger button enables override, joystick allows motor control, second button lowers mask
11. animatronic mask that can be raised and lowered to entertain others.
    • already have Animatronic Chimp Head from Sharper Image... actions can be programmed, random, or controlled by auxilliary controller
    • Mask control should be done from a button on the ape joystick.
    • Mask opening can be covered and locked down if apes are riding the bot
12. squirt gun controlled by a second joystick button.
13. video camera so apes can use the robot to explore areas out of their own sight.
    • 900MHz or higher transmitter with at least a one watt output... omni directional antenna mounted at base station
    • picture would appear in corner of keyboard computer screen OR on separate monitor
    • camera pan /tilt would be nice but may introduce too much joystick control complexity
14. two way audio so apes can communicate with other apes or people they meet while operating bot
15. 360 degree Sonar or infrared bumpers to halt bot before contact is made
16. physical bumper sensor to halt bot in case of collision
17. Emergency Kill Switch on top of bot
18. arm mechanism
    • to carry objects to give to guests or to carry objects given to them by guests
    • to tickle people
19. speed control
    • to keep robot driving straight under varying terrain
    • to govern top speed allowed
    • using optical encoders
20. interface to computer to allow programmatic power up/down control
    • blue tooth?
21. trap door on top for mask, open indoors, shut outdoors for weather protection
22. attention getting flashing lights and sound effects
    • when raising mask or squirting
23. scary whistle if robot is picked up
24. horn
    • could add extra buttons to joystick box