Updated 3/10/18

Key Search Words: ROBOT, ROBOTICS, ROBOTIC VISION, ARTIFICIAL INTELLIGENCE, AI, AUTONOMOUS ROBOT, MOBILE ROBOT, ROBOT NAVIGATION Above: Scale of increasing intelligence from left to right. We progress from the lowly brainless Amoeba upward to the most sophisticated animal on the right. Along the bottom are some of our robots we have built at approximately the level of intelligence that they have demonstrated.
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 Here is our gallery of home built Robotic projects we have built over the past years, highlighting the technical challenges, architectural design, and programming goals. Our robots are of the fully autonomous type, reacting to their environment with their own sensors, and with minimal outside control or human intervention. All of our PIC based robots are hand made in our home workshop / electronics lab.
Underside of TDR with sharp sensor installed in the middle on the bottom.
Sharp Distance Sensor Test Robot

Started: March 2018

This robot carries the Sharp GP2D12 optical ranging sensor underneath, after an extensive linearization project (see here) to write a block of code to allow its use in robots. This sensor can detect distances from 9 to 80cm, with around an inch accuracy up to 12 inches and two inches after that. Here, we evaluate the sensor on our TDR test robot in the arena for future use in navigation in a home enviorment.

GO TO PROJECT PAGE (Updated 3/10/18)
Past Project Standard PIC Processor Based Robots:
Pixy Vison Camera Test Robot precisely docked with a mock up charging station.
Pixy Vision Camera Test Robot

Started: April, 2017

This robot is for evaluating and charecterizing the Pixy Color sensor which uses the PIXY CMU cam 5 from Carnegie Mellon University Robotics Lab.

GO TO PROJECT PAGE (Updated 6/10/17)

ColorBot 1 - Sept 12, 2016

Color panel detection Robot

Color Sensor Test Robot

Started: 8/16

This robot tests a home made color sensor, which can detect three colors, black and white panels on the surface which it drives.


(Updated 9/12/16)
ADR - June 5, 2016 Audio / Sound detction Robot

Audio Decomposition Robot

Started: 4/3/16

This robot is to be the testing hardware for the new Audio waveform envolope decomposition evaluation.


(Updated 6/29/16)

April 17, 2016

New image of T.D.R. - the Tactile Design Robot

Tactile Design Robot

Started: 2/29/16

This robot is to evaluate in a home enviornment the use of insect like antenna and mouse like whiskers for internal house navigaion.


(Updated 4/17/16)
Dec 26, 2015

New image of the fully upgraded Cbot-1A configuration. The largest difference visible is the amount of new electronics under the clear watershield dome.

C-Bot1A (Plant Watering Robot Rebuild)

Started: 11/9/15

The previous version of this robot only had enough capability and program memory to water just one planter and that was it. This version, which has had all the electronics completely replaced with new current technology and a number of sensor boards to take the programming load off of the main processor. Dozens of planters or more can be serviced with this unit.


(Updated 2/29/16)

C-Bot1 (Plant Watering / Maintainence Robot)

Started: 5/22/15

The first project using CCS-C compiler will be the research and design of an autonomous plant watering and maintainence robot. The first proto type will be a small bot to demonstrate and develop the firmware and routines, and this will lead eventually to a much larger and more sophisticated device. First comes the experiments - learning to deal with plant watering and monitoring techniques. Then on to building the actual robot, now a physical reality as seen on the left panel.


This is NavBot 4 "Arm/Gripper Logic"
Navigation Robot NavBot 4 Arm / Manipulator Logic Robot

The next phase in the Logic Series of robotics articles is to explore some of the basic concepts of incorporating a remote manipulator and grasper into your mobile autonomous robot for accomplishing useful tasks. And while an armless robot can do a limited amount of jobs around the home, once you add an arm or at least a fixed manipulator to the robot its capabilities are multiplied expotentially!

Project Started June, 2014 Project finished December 2014 GO TO PROJECT PAGE
This is NavBot 3
Navigation Robot NavBot 3 Indoor Navigation and Homing 

This is an extension of the NR-1 and NR-2 projects, which were to primarily develop the hardware. Here we are wiping the program clean, and developing an autonomous robot which uses the tools we developed in the NR-2 program. Additional hardware will be added as needed, with an emphasis on indoor house hold navigation methods which can be used for daily tasks.

Project Started January, 2013 FINAL REPORT 8/31/13 GO TO PROJECT PAGE
NR-1 main page
Navigation Robot NR-1, 2 Household indoor navigation of autonomous robots 

This project will study the various aspects of indoor robot navigation. A small 8 inch sized robot will be used to test encoders, optical navigation and localization and dead reckoning. Advancing the Vision Logic series, this new bot will extend that research and include insect like higher resolution imaging for later navigation experiments.

Project Started July, 2010 GO TO PROJECT PAGE
Sweepbot Main Page
Floor Cleaning Robot Sweepbot 1A Household indoor autonomous robot  Project Started May, 2011

This is an update to the allready very sucessful robot. The sweep module has worn out from use several times, and has now been replaced with a brand new suction type vacuum module. Now it actually SOUNDS like a real vacuum cleaner when it runs! Check out this new change:

VLR main page
Vision Logic Robot Series An Open-File Vision Study Autonomous Robot  

Here we present a series of in depth articles on using only vision to navigate a robot in a household enviornment. The study will evolve the number of eyes upward from one to compound eyes and beyond in a step by step fashion.

Project Started January , 2009 Finished July, 2010 GO TO PROJECT PAGE
Sweepbot main page
Sweep Bot 1 A Floor Sweeping Autonomous Robot  

This robot was designed to fill a practical household need: To keep the bathroom floor swept clean of the cat litter that escapes from the cats litter box. It will live and work entirely within the bathroom, and using the experience gained in the entire PICbot Logic series, we will build on that knowledge to create a mostly self sufficient worker drone.

Project Started August 24, 2007 Robot Finished December 14, 2008 The robot is still sweeping every day - Jan 2011.... GO TO PROJECT PAGE

Picbot V main Page
 PICbot V A Docking Logic Development Robot

This is part four in our in depth series on developing more advanced A.I. for a household robot. The PicBot V is used to develop several beacon docking methods and setting the stage for autonomous charging of the robots batteries.

Project Started Feb 1, 2007 Project Ended August 11, 2007

Docking Logic Final Report

Picbot IV main Page
 PICbot IV A Stasis Logic Development Robot

This is the third part of a larger program to greatly improve the Artificial Intelligence (AI) of my successive robotics projects. The small PICbot IV will be used to develop, analyze and detect navigation sensing failures which may result in robot stasis.

Project Started December 1, 2006 Finished January 29, 2007

Final Report HERE

Picbot III main Page
 PICbot III A IR Prox Logic Development Robot

This is the second part of a larger program to greatly improve the Artificial Intelligence (AI) of my successive robotics projects. The small PICbot III will be used to develop, analyze and perfect navigation principles using modulated infrared proximity sensors.

Project Started November 1, 2006 Finished December 1, 2006

Final Report HERE
PicBot II

 Finished October 2006

A Bumper Logic Development Robot

This was the first part of a larger program to greatly improve the Artificial Intelligence (AI) of my successive robotics projects. The small PICbot series will be the vehicles to develop each level of subsumtion separately to a level beyond what I have done previously. The final goal of this program is to complete the design for a Priority Arbitration Architecture PCB, which can be adapted to all future robots. This should make it possible to exceed the Beetle level of intelligence and push onward. The first project was the bumper imact module. We were able to optimise the reactions and behaviors on a generic sense on both a reflexive and chronometric level. The result, is will be a huge article on bumper logic.

And here is the complete Article: Uploaded 10/12/06
Geobot I

 Finished August 2006

Geobot I was our first outdoor robot, and was designed to go out on distance specific missions and collect rock and soil samples and return them to base. We accomplished this, and the Final Report can be read HERE. The main Geobot project Pages start HERE
VacBot 1

 Finished October 2005

VacBot I was a research project for developing a set of specifications to a abetter understanding of how to construct an autonomous home roving vacuuming robot. You can jump to the main page HERE and the Final Report can be found HERE.
Finished June 2005 

PAAMI stands for Priority Arbitration Machine Intelligence. She is one of very few robots in existence that uses a totally hardware approach to Priority Arbitration Architecture, with 8 levels of Subsumption. Her primary function at this time is to self charge, and not get stuck in a household environment not specially prepared for a robot in any way - which includes stairwells and sharp drop offs. she can collect items such as cans and tennis balls and stack them at a known location with her gripper. PAAMI makes very amusing sounds depending on which level of subsumption is currently being arbitrated. Mostly beeps, chirps and ramping tones.

PicBot I
Finished April 2004 

PicBot was our first robot built with PIC processors, and mulit processor subsumption architecture. It was a great deal more advanced in behavior than the standard Boe Bot type with a BS2 processor.

Finished March 2004 

Ostracode is a small single processor robot that has one mission: Don't get stuck no matter what in an unmodified household environment. He can also sleep at night when darkness falls, and makes sounds like a cricket. It uses a BS2SX processor.

  Aurora Cam 1
Finished December 2003 

Aurora Cam is a robotic film camera system that works hard all night long taking pictures of the night sky, patrolling for meteors, aurora and sky phenomenon. It has been extremely successful.

Mindstorms Based Robots:

 Finished December 2005

SkidBot is the bumper prototype for our big Geobot project, allowing us to rapidly develop a mechanical model of our dual pushrod design. Skidbot also was our first outdoor roaming bot made from Mindstorms technology, in which the traction and ground clearance was paramount.

ODObot 1

Finished August 2005

Odo 1 is my first experiments in precise odometry demonstrated here by navigation of a maze from start to finish by using odometry alone.

Digital Aurora Cam Control

Finished July 2005

This robotic device activates its program when the start button is pressed, and operates the electronic cable release for my Canon 10D for astrophotography.


Finished June 2005 

Here is our first Mindstorms robotic project in which we get the basic feel for the technology of the kit, and the outrageous cult like worship that these kits possess.


Finished June 2005

Here is a very slow dual worm gear driven line follower, using tank treads as well for a touch of interest. (RSR = Really Slow Robot)

Commercial Robots in our Collection Include:
Robotic Pterodactyl
  Voice Controlled Verbot
  Radio Controlled R2D2

Robotic Tribble

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