Work-E: Mobile InMoov Robot

Work-E is a mobile InMoov robot being restored as a real-world BotGear development and demonstration platform. The project brings mobility, manipulation, vision, voice, AI, and autonomous behavior together on one documented robot.

Current milestone

First major milestone: Work-E can drive safely on its powered wheelchair base under BotGear control from its onboard laptop.

• Consolidate and inventory the existing Work-E parts.
• Inspect and bench-test electronics before reconnecting the complete robot.
• Make the wheelchair base operate as a standalone differential-drive robot.
• Prepare and mount the onboard Ubuntu/BotGear laptop.
• Add the InMoov torso, manipulation, vision, voice, and higher-level autonomy incrementally.

See it in action

<<TODO — add video of Work-E driving under BotGear control>>

Platform

Subsystem	Role	Status
InMoov head, torso, arms, and hands	Manipulation, interaction, and embodiment	Inventory and testing required
Jazzy 1170 powered-wheelchair base	Mobile differential-drive platform	Inspection and standalone drive integration planned
Onboard laptop	Primary BotGear computer	Selection, Ubuntu setup, and mounting planned
OAK-D Lite pan/tilt	Steerable depth vision	Related project in progress

<<TODO — confirm controller models, batteries, actuators, sensors, power rails, and quantities after inventory>>

Restoration and build plan

1. Consolidate and document

Move the robot and known components into a permanent assembly area. Sort and label every part, photograph the existing system, and build a master bill of materials with condition and test results.

2. Establish safe bench testing

Identify every voltage and power rail before applying power. Test controllers, motors, servos, sensors, and cameras individually with current limiting. Document wiring before changing or repairing it.

3. Integrate the mobile base

Inspect the wheelchair mechanics, batteries, charger, motors, and controller. Establish an emergency-stop strategy, verify each drive independently, then expose the base through a generic BotGear differential-drive capability.

4. Install BotGear

Configure the onboard Ubuntu laptop, networking, development toolchain, BotGear dependencies, startup behavior, and hardware discovery. Mount it with cooling, service access, cable routing, and strain relief.

Architecture

Work-E should contribute reusable capabilities to BotGear rather than robot-specific shortcuts. The wheelchair base should present mobility as differential drive; cameras should present vision capabilities; and actuators should remain independently testable services.

<<TODO — add power architecture diagram>>
<<TODO — add BotGear service and data-flow diagram>>
<<TODO — list exact BotGear service keys after the first working configuration is committed>>

Safety

• Do not energize undocumented wiring.
• Use current-limited bench testing before reconnecting full systems.
• Keep mobility safety and emergency stop independent of vision, planning, and AI.
• Begin drive testing with wheels unloaded, then perform slow floor tests.

Expected result

The first reproducible success is a documented Work-E base that starts BotGear on its onboard laptop, connects to the drive hardware, and performs controlled forward, reverse, speed, and differential-steering tests with a verified emergency stop.

Project media

<<TODO — add current-condition inventory photos>>
<<TODO — add photo of the complete assembly>>
<<TODO — add wiring and connector photos before modification>>

Related projects

OAK-D Lite Pan/Tilt — the steerable depth-camera mount being developed for Work-E’s perception system.

Discussion

Ask questions, suggest compatible hardware, or share experience integrating InMoov robots and powered-wheelchair bases in the comments.