1. Home Robot Evolution - GoPHR 914 Bot, mobile computer, Home security, voice command, no functionality. ~$2000 Roomba (et al) – single function ( vacuum, mop) ~$200. GoPHR- General Purpose Household Robot, single platform, multiple off the shelf tools for vacuuming, mopping, pickup. Ideal future robot Multi-functional (mop, vacuum, dust, pick-up Mobility to include 3 dimensions (stairs) Manipulation (doors and drawers, sneakers) Automatic navigation, power management (return to charging station) Alan Federman – Homebrew Robotics Club anfederman@comcast.net

2. PIMP – Pneumatically Influenced Mobility Platform COTS components Uses BEAM principles to adapt to terrain Low complexity Alan Federman – Homebrew Robotics Club anfederman@comcast.net

3. Ideal future robot Multi-functional (mop, vacuum, dust, pick-up Mobility to include 3 dimensions (stairs)* Manipulation (doors and drawers, sneakers) Automatic navigation, power management (return to charging station) * (The next generation) The Future of Home Robotics

4. Introducing GoPHR GoPHR General Purpose Household Robot 1 - 2 (can pick up shoes) 3 - 4 (can clean the floor) 5 – 6 (pick up sticks – return silverware to drawer) 7 – 8 (can go out the gate - fetch newspaper from outside) 9 – 10 (can do it again – self maintainable)

5. GoPHR The nursery rhyme is a device to lock-in the functionality requirements. A GPHR can do multiple useful things around the house, and some of them are pretty challenging. For example Roomba can vacuum, but if a pair of sneakers is in the way, it can try to clean around them, but maybe get caught in the laces.

6. GoPHR The GPHR will evolve over time. A Level 1 GPHR Will be able to both vacuum or mop, pick up or Move obstacles (placing them in their proper locations. It is capable enough to return to base, and select the proper tool for the job. A Level 2 GPHR can open and shut doors and drawers, and put away silverware.

7. GoPHR Level 1 and level 2 will be at the bounded autonomy level. They can do simple things by themselves but will ‘phone home’ if they get in trouble. Instructions can be sent via mobile or static web connection - so a smart mobile web cam with an attached tool is a good description. At Level 3 the GPHR will be able to go outside and fetch and return the newspaper (It will be smart enough not to do this if the weather is lousy. A level 4 GPHR will be able to climb stairs and freely move to any room in the house including the front and back yards.

8. GoPHR The first step is to design a platform that can support snap-in-tool functionality. This platform needs to have evolvable sensor packages (RFID, vision/obstacle detection). Consideration of mobility in 2.5 or 3 dimensions is vital. Finally the interface needs to integrated into the existing environment (Remote web? 802.11?)

9. GoPHR Type 1 GoPHR prototype semiautonomous - RC with touch and ultrasonic obstacle avoidance. Uses COTS sweeper.