Kenji Tele-Robotics Platform

With Kenji you can automate data-collection indoor and outdoor, perform facility and areal inspections, work remotely in HazMat environments, also explore and learn programming robotics.

You can control robot directly from you PC, Laptop or Remote Control from anywhere else in the World. You only would need a computer and a source to connect to internet. If you have an iPhone with LTE data on it, then you are good to go.

Kenji Piloting:

1. iPhone SE and LTE Data
2. Laptop

Technical Data:

• Dimensions: 44 x 51 x 42
• Payload: 5.0 kg
• Communication: 2.4/5.0 GHz IEEE 802.11ac WLAN, Bluetooth 5.0, BLE Gigabit Eth., 2-USB 3.0, 2-USB 2.0
• Actuators: Tower (360° degree rotation), 2 x mecha-arms with grippers and sensors
• Drivetrain: PVC or Rubber Tracks, wheels (optional)

Design

Several technical challenges have been attempted to address within this robot project:

• - Hardware Customization and Modularity
• - Tele-Presence, and Working Remotely
• - Piloting Robot via Remote PC-Station
• - Data-Acquisition and Evaluation onboard, also Streaming
• - Evaluation of roboDrive Engine in field conditions and some tests

Huh... I was thinking to write down the list, but then I have realized how long it will be.

Therefore I will just give some preliminary list, and will attach some BOM and excel shits for those who will be interested. Please give me a shoutout if you want a detailed list and from which level you would like to start.

• roboDrive Engine https://physalislabs.org/ (ready module, or just empty PCBs without soldered parts DIY)
• carrier-frame (CNC machined)
• mech-arms x 2 (14 x high-torque robot-servos)
• Tracked PVC drivetrain
• Tower/Mastcam with tower-drive
• Rechargeable Battery Backpack
• Wireless Communication and onboard compute module
• Remote-Control (optional)
• Charger
• Programmer

One way would be to get the empty PCBs and purchase BOM via Digikey and
start soldering by yourself. Or you can even go below that, by just getting the CAM data and finding your own printing contractor. When you are finished with the components and PCBs, you can then proceed to mechanics and other parts of the robot.

After mechanics is done, it will be possible to power-up separate modules and see their status, and if there are mistakes then work on them, before moving forward.

While working on robot's design the ocean crab's anatomy was studied and replicated on robot to a certain degree.

Lightweight aerospace aluminum alloys of series ENAW2024 have high-strength to weight ratio. Therefore it was used as base material to produce the carrier-frame. The carrier-frame is used for module-integration. The inner part of the plate is machined out completely and only thin parts are left which carry the entire weight on them. The frame is wide similar to ocean crab's body and locomotion is achieved side-wise positioned actuators. Armature has two pointing out sides which helps Kenji to recover in certain scenarios when there is a dis-balance on a rough terrain.

Assembly, calibration and testing process can take up to 2 weeks. Here are summarized steps:

- Procurement

- Soldering and Assembly of the PCB (SMT and THT)

- Actuators Assembly (drivetrain, mecha-arms, tower)

- Module Integration and Programming

- Installation, Testing and Calibration

- Everything works? then Pilot your mech. Fun Fun Fun!

It seems that two weeks would be an optimistic estimation.

After it has been correctly assembled, tested and calibrated. Later it can be easily reconfigured towards applications demand. External hardware (payload containers, mercha-arms, etc..) can be attached and integrated using mounting inserts and power-velcro straps.

Robot control is enabled on two tier system. This allows user to gain access to low level hardware directly while at the same time operating on operating system something like embedded Linux SBC.

roboDrive Engine is a hardware efficient, low-level and simple method to interact with the robot. Upon power-cycle, It starts interacting with the user in real-time.

Not only, it is possible to program arms for repetitive and precise movements, but also working with each arm remotely in real-time, while controlling the robot. Manipulators are very flexible devices, and are capable of fine-tuned movements. Additionally user can add sensors, lightning or cameras to the racks on both arms. Manipulators are easily detachable from the robot. In case when both manipulators are not required, they can be completely removed or replaced with payload. That way, robot’s payload capacity will increase. Manipulators are normally (default state, after booting) in parked position, which is the most energy saving. They can be activated momentarily by the operator/user.

The module can accept low-power and high-power electric motors, and servo-motors, and can handle with peak current draws. It’s a very robust and stress tolerant module and can handle power hungry situations in field.

You can drive in indoor warehouses or Buros even without camera. Using the Garmin LIDAR-Lite high performance LIDAR it easy to see where are the objects surrounding robot in space. You just rotate the tower with desired speed and see what LIDAR is sending you. Other than that it is possible to run light intensity, temperature, and similar measurements and get the data streamed to you directly, or just saved onboard.

OFF-Road Agility -

massive natural green coverage in form of grass, road metal, asphalted and unpaved roads

Control and communication -

achieved via laptop and iPhone SE with LTE Data.

Driving in grass of about 25 cm and had no issues navigating the terrain. The manipulator control was working also smooth, although as beginner you need to spend some time training yourself and getting the feeling of being a remote pilot of a mech.

Sometimes, as a beginner you have to try more than once to grab a pipe, or spare parts with the manipulators, but they are very responsive and pack a punch of power. Robot was operated with monitoring and patrolling tasks for an energy harvesting facility, based on a renewable energy (Wind Generators Park) and the electricity production power-plant.

Running at night was also not an issue due to its high-power night light and adjustable speed of the drivetrain. It was expected to face communication issues, due to operating in electrically noisy area, around high-voltage systems, but the communication was solid and no issues have been encountered.

Operation Time-

at least 5-6 hours, with heavy usage of both manipulators and lots of driving and navigating through terrain.

The carrier frame of the robot chassis landed itself very good at keeping all the modules together and at the same time balancing the robot. Even at times when the stability in the terrain was compromised it wouldn’t just flip-over.

I am planning to update the project on a regular basis and will add detailed instructions on how to build it and run it as new user. We launched our crowdfunding campaign recently, so if you would like to help us or get a completely ready unit shipped to you, or a DIY-kit please give us a shoutout. https://physalislabs.org/

https://www.kickstarter.com/projects/843546341/ken...

“If you’ve had some experience programming smallish robots and you would like to expand and get into real tele-robotics development, and you don't want to apply for a research-grant then Kenji is for you!”