Paynal, a low cost telepresence robot

This paper shows the construction of an inexpensive telepresence robot. It includes, besides the mobility and the audio and video bidreccional communication, a 3D obstacle detection system using 2 cameras and a laser rangefinder. The system uses an arduino microcontroller to control two stepper motors coupled to the wheels and a Single Board Computer ODROID U3 for processing images, audio, video and readings from the laser rangefinder.