This is my modified version of the EZ Robot Roli. It has been reworked to increase the functionality of its standard features.
To begin with, the body has been reversed so that the cup holder is now the front of this track vehicle. This allows the articulating arms to actually pick and place items from the floor to the cup holder and vise a versa. The arms have been redesigned utilizing all of the original servos with additional EZ Bits. The arms now complement each other by using different degrees of movement. Note that the right shoulder rotational servo was swapped with the wrist lever servo. This enhances the right gripper usefulness.
A rotational servo at the front of the vehicle pans an ultrasonic sensor and in the rear, overlooking everything is the camera and RGB module, with tilt functionallity by way of a lever servo.
To begin with I rewired the HBridge terminals so that my Roli would respond correctly to the Hbridge Movement Panel. On the Hbrige there are two rows of 4 pins each. These are noted below as "O". Place the colored wires as shown. The center two pins on the top row are not used.
BLACK O O O GREEN O BLUE O PURPLE O GREY O WHITE O
Additional ultrasonic and compass sensors are in the planning stage.
In the video, Speech Recognition is the Commanding Control. This is initialized with a command to "Wake". The Search function is standard color tracking. The red cup is placed randomly on the floor in the cup "up" position. The camera state is verbalized thru the EZB. The camera tracks directly to the color and stops when the color is lost. The distance to cup is a function of the camera tilt. AutoPosition Controls takeover from here to pick from this position with the Right Arm while the Left Arm completes setting the cup position in the cargo bay. From here the Left Arm takes over to return the cup to the floor while the Right Arm holds the position on the floor. The Left Arm picks the cup back to the cargo bay. The camera is not used for gripper use, although with the varibles located on the Camera Control, a much more accurate pick is certainly possible.
On the Views Selection during assembly, you must select "rear view" to view the FRONT of this Roli. Otherwise all views are of the correct side. Some of the 3cube stacks on the right arm may be replaced with blocks. I just used what I had. Loose cubes and joints are easily remedied with a little Krazy glue. (This is permanent)
This project is very much a work in progress, a learning tool. It's kind of like a messy desk, makes sense to the user, not so much to the casual observer. Hopefully others can use this initial start as a springboard to greater things.
Added 3 Sonar to the front and 1 Sonar to the rear. Modify the front sonar sensors as follows: Remove the plastic back and snip the two plastic arms that hold the circuit board in the enclosure. Take some sponge packing material that your Roli was shipped in and cut two pieces sufficient to hold the circuit board in a "canted orientation". You will want the Left Sonar looking canted to the outside. You will want the Right Sonar looking canted to the outside. This is accomplished by placing a sponge underneath one end of the board and a sponge on top of the board on the opposite end. When the plastic back is replace, it will cant the sonar in its enclosure and cause it to focus towards one side. Doing this will assure full coverage of the front of Roli as it rolls along.