We submitted an article on PR2Lite to Servo.
We fixed bugs discovered during recent testing on the torso controller, the head controller, and the base controller.
We have reliability problems when using both the base (wheels and linear actuator) and the upper arms. This appears to be due to the length of the cable and packet collisions. If we run just the upper arms or just the base, things appear to work pretty well.
On May 18 & 19, 2013, we brought PR2Lite to the Bay Area Maker Faire in the San Mateo County Event Center. With Maxwell, by Michael Ferguson, we had a booth of the two robots playing chess autonomously against each other. Maxwell possessed the dexterity required for moving the individual pieces. PR2Lite on the other hand had trouble, especially because the servos would overheat due to holding up the arms for too long (the robot took time while planning its arm movements). Overall, it was a successful Maker Faire trip, and we had a well placed booth, so many people stopped by to learn about our work.
We also had to create a new way of transporting the robot, because last year we had a piece break off because of jostling during transportation. It was built in one day, and could be strapped down onto the floor of the car. This year it worked perfectly. Here’s what it looked like: