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Sensors
The robot will need to be able to detect a lot of things about his environment
in order to function safely and intelligently in a household setting. He will
use webcam eyes (ELP USB camera 1080p 2 megapixel, wide angle, low light x2 -
$98.42) in order to have "computer vision". The vision will consist of
taking still frame images of his surroundings and using pixel scan detection
algorithms to establish and identify objects around him. Since he has two eyes,
he will be able to use stereoscopic vision algorithms to establish depth perception
and estimate distances of objects from himself in order to have decent spacial awareness
and accurate motion planning systems. He will possibly also use
sonar to measure distances from himself to various objects around him. He will
use strain gauges (aka pressure sensors) to measure the amount of tension placed
on his finger tips and balls and heels of feet to help him feel his environment
via touch. He will use current sensors (acs712) to track amount of power being drawn
by his servos - this will give him collision detection and the ability to calculate
various other forces playing upon his frame. For example, if he were swinging his arms while walking
and detected an abnormal amount of current placed on his arm motors that shouldn't
have been there, he will know that his swinging arm just made contact with my
5-year-old child's head. He would then have to stop swinging his arm forward
immediately so that he will not send the child airborne during the follow through
motion of the arm swing. These tension sensors can also be placed in the fingertips
to detect how much pressure he is using to grab some object. If he were grabbing
an egg, for example, he would not want to grip so hard that he cracks the egg.
Or, for example, if he were to grab a pencil off a desk, he would use his pressure
sensors to detect whether his clasping shut fingers have yet laid hold of the
pencil he is closing his fingers in on. In other words they will provide tactile
feedback.
Note: the photo at the top is a photo of strain gauges (aka "pressure sensors").
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