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Construction of the T-bot begins by analyzing the chassis of the model car. Most R/C model cars have an outer cosmetic shell that makes the model look like a standard vehicle: car, truck, landrover, etc. Remove the outer cosmetic shell of the R/C model. Secure the equipment directly onto the chassis. The Golem I requires a separate power supply for the miniature color camera (see Fig. 9.5). This 6-volt (6V) battery pack is made for use with the camera-transmitter pair. The battery pack should last approximately 4 to 6 hours (h) with four fresh AA batteries. To keep the component mounting simple and modular, we will make liberal use of Velcro material. Velcro material is typically sold in strips, by foot increments. The Velcro strip is made of two mating strips of material that adhere to one another. Each strip
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Telepresence robot
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9.5 Six-volt battery pack holds 4 AA batteries
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9.6 Video camera system, camera transmitter, and receiver
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has self-adhesive on the back. The Velcro material is mounted to the chassis with the mating strip placed on the component to be mounted.
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The 2.4-GHz transmitter is an integral part of the color camera (see Fig. 9.6). The 2.4-GHz receiver is a separate unit. The receiver has two RCA jacks, one for video out and the other for audio out. These are connected via RCA cables to the video in and audio in of a TV set, monitor, or video cassette recorder (VCR). Mounting the video camera There are two options regarding the mounting of the video camera. The video camera and transmitter attached to the battery pack are shown in Fig. 9.7. You can start out with a fixed camera
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position, or the video camera can be mounted on top of a servo motor for camera movement and tracking. The servo motor mounting is naturally more complex and requires the building of a separate R/C control for panning the camera left and right. In a highfidelity system, the camera panning would be linked to a headtracking unit. So if the operator turned his or her head left or right, the camera on the mobile robot would also pan left or right in sync with the operator s head. To make this work properly, the operator should be wearing a VR-style head-mounted display (HMD). This is a lot of work. I advise using a fixed camera position first, to keep the construction simple. Fixed mounting You need a small section of Velcro secured to the bottom of the camera s battery pack. The mating piece of Velcro is secured to the chassis of the R/C car. The finished Golem robot is illustrated in Fig. 9.8.
Driving via telepresence
You can drive the car remotely using the radio controls while looking at the TV monitor. The camera is equipped with a microphone, so you can hear audio from around the R/C car when you are driving.
9.7 Color camera with battery pack ready for mounting on R/C car
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Telepresence robot
9.8 Color camera mounted on R/C car
Talk
You can purchase a pair of inexpensive children s walkie-talkies. Place one walkie-talkie on the T-bot. You can speak from the T-bot using the second walkie-talkie.
Adding realistic car controls
Golem I uses the standard radio controls that came with the car. The realism of the telepresence system can be greatly improved by adding realistic car controls. This isn t difficult. It involves removing the circuit and potentiometers from the radio transmitter control and making a mock-up steering wheel for one potentiometer and a foot pedal throttle control for the other potentiometer.
Improving the telepresence system
Golem I is a basic telepresence system that can be improved upon with a little thought. Improvements will add cost to the system. However, these subsystem improvements can be added over a time.
Stereo-vision
Implementing high-fidelity stereo-vision on the Golem I is a worthwhile endeavor. There are great benefits to be derived from this experimentation, namely, depth perception. This is still an area
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