The document describes a modular open source robotic platform called CRC that can be configured in different ways to perform various functions. It discusses how CRC provides hardware that is ready for rough terrain and harsh environments. It also reduces development time and costs compared to building a robot from scratch. CRC uses Android and Java programming which allows for code reuse and finds talent more easily. The platform is open source so components can be modified or produced in-house to save money or time. It then shows several example configurations of CRC including a basic tribot, automotive chassis, legged chassis, quadcopter, boat, and submersible vehicle.

2.  Provide a Open Source modular platform for
robotic development.
◦ Proven hardware, ready for rough terrain and can survive
the harsh environments.
◦ Reduced development time and cost, compared to
building from scratch.
◦ An 80% solution to test and prove functionality, helps
get teams to a “minimal viable product” fast.
◦ Opportunities for code reuse in
navigation, communication, user interface from one
machine to the next.
◦ Tap a larger programming community by using
Android/Java. Making it easier to find talent.
◦ Open source: allows teams to modify components to
suite their needs, flexibility to make it in house to save
money or buy to save schedule.

3. Android Jelly bean ROS
360 deg rotation main
software IO IO Android break out
Navigation by 3D model body
board for sensor input and
map powered by MAKE3D
motor control.
Joints use rotary Front/Back, Up/Down
dampeners and agnostic operation
flat torsion springs
for suspension
Target tracking via
“Positionit” smart phone Upper and Lower rotate
app though 270 deg of motion
for height adjustment

4. CRC TriBot
Designed as the base model. It is a simple, low complexity system yet is highly
maneuverable. It can support a flat top surface to easily mount sensors or manipulators. The
main body can rotate 360 degrees to look straight up, ahead or down.

5. CRC Automotive Chassis
Designed for car like functionality, each wheel is independently driven giving it good off road
capabilities. With a 360 degree rotating main body there is no real front, back, up, or down.
Also the main body could be replaced with a larger shape to hold additional sensors or
batteries.

6. CRC Automotive Chassis (reconfigured)
With motorized joints the vehicle can pull its self up for increased ground
clearance. This would allow it to look over objects in its way, or good for
moving though rows of crops.

7. CRC Automotive Chassis (on tracks)
To further in crease mobility tracks could replace the wheels. Another mode is
to lock the wheels or tracks and have the vehicle “walk” further increasing
mobility.

8. CRC Legged Chassis
Adding feet to the ends of the legs allows the system to walk.

9. CRC Legged Chassis
The legged chassis with all it’s rotating joints has the ability to “stand”. It’s
special end effectors can be use to grip objects.

10. CRC Quad Copter
By replacing the legs with booms and motors the CRC becomes a quad copter.

11. CRC Boat
Adding pontoons to the legs the system could float to create a robotic boat.
With 360 deg thrust pods under each pontoon it could easily hold GPS position
in the water.

12. CRC Sub
Maybe far fetched but I can envision how it could be turned into a submarine or
some other underwater vehicle.