Robots
I've worked with many robots over the years. In roughly reverse chronological order, may I present the Rogues Gallery:
Bullwinkle
Bullwinkle is an ATRV2, augmented with a 5-DOF anthropomorphic arm from TRACLabs and an electromagnetic end effector, as well as a Hokuyu URG laser for local obstacle avoidance. Bullwinkle is the Trestle project's dextrous manipulation agent.
Xavier
Xavier is an RWI B24 synchro-drive base, with a CMU-built superstructure, including a SICK laser and a pan-tilt head with stereo cameras. Xavier has been operating in one capacity or another at CMU for 14 years, which we believe to at least be a Carnegie Mellon record. Xavier was the inspiration for the RWI/iRobot B21 series of robots, and is currently the mobile sensing agent for the Trestle project.
Robocrane
The Robocrane is a 6-meter inverted Stewart platform on loan to the Trestle project from NIST. It acts as the team's heavy lifter and bracer.
Ranger
Ranger is a multi-armed neutrally-buoyant vehicle at the University of Maryland's Space Systems Lab. We have integrated the Syndicate architecture from Trestle with Ranger as part of the IDSR.
Tinker, Evers, and Chance
Tinker, Evers, and Chance are three old Nomad 150s that Illah loaned to the Trestle project. We're hoping to get them running again to use as additional manipulation and sensing agents. They have synchro drives with an independent turret, providing full 3-DOF control over the top plate. It may be possible to perform rudimentary assembly by adding a simple forklift manipulator, but this remains to be seen.
Tank/Valerie
Tank is an RWI/iRobot B21r with an LCD panel mounted on a pan unit. Tank (formerly Valerie) serves as the Robotics Institute's Roboceptionist.
Grace
Grace is an RWI B21a with a mast holding an LCD panel and a wireless access point. Grace has been many things, but my involvement was during our entries in the AAAI Grand Challenge. Grace is the possessor of the infamous Stupid Switch and Silly Plug. Robotic Debugging Axiom 42b (the Grace Axiom): If it doesn't work, wiggle the silly plug or flip the stupid switch.
George
George is an RWI B21r, also with a mast for its LCD panel "face", used during our second and third AAAI entries. George is based at NRL; my involvement with him was largely remote.
