built by Lars Näs

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Target Environment Locomotion Method
Indoors 3 Wheels
Sensors / Input Devices Actuators / Output Devices
IR obstacle detectors
Hall effect wheel encoder
CDS-Photo resistor
PIR motion detector
2 modified Futaba 148s servos
Control Method Power Source
Autonomous Battery
CPU Type Operating System
BASIC Stamp + CPLD None
Programming Lanuage Weight
Time to build Cost to build
URL for more information
SR-1 has behavior based AI with 4 personality layers:
  1. Avoid obstacles with bouncing strategy
    1. Follow a target
    2. Rest and detect motion, Start mode when powered on
    3. Alarm and detect motion
  2. Speech Voice Recognition of trained phrases (11) to access all modes, also alarm mode is automatically accessed when it's getting dark and returned to previous mode when it's getting light.
  3. Talking with 18 preprogrammed phrases depending what it recognize or situation
  4. Face PCB indicate facial expressions like smiling, happiness, sadness, talking or if alarm is activated by a yellow led mouth, blue eyes and blue tears.
  5. Differential drive
  6. When SR-1 gets stuck for 3 seconds it will backup, turn right and try driving forward again.
  7. Cleans the floor with a mop when it's moving around

Behavior based AI doesn't think or plan but reacts on the sense impressions from the surroundings. This is a simple and very efficient behavior based on simple animals. An ant walks around randomly until it finds food. When it returns to anthill it leaves a trace of scent that draws other ants.

When SR-1 is in one of the 4 main personality layers/modes it can shift temporary to another personality mode with lower priority level depending on the output value of PIR-sensor, CDS-Photo detector or Hall sensor. When output value of PIR-sensor, CDS-Photo detector or Hall sensor changes again SR-1 will return to the previous personality mode with higher priority level, until it has reached the previous main personality mode with highest priority level. E.g. SR-1 will always (regardless to main personality mode) get into alarm mode when it's getting dark in the room, sound alarm when motion is detected and return to previous mode when it's getting light. When SR-1 gets stuck it will backup, turn right and try driving forward again. The priority order of the personality modes is implemented in CPLD Project Board.

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