I was inspired by some of the "linux robot" posts on here, and as I have worked on some pc-based robots before, I decided to give it another shot. The result is the Seris Project, in which the goal is to make a useful, social personal robot for under $100. I built my own, the Seris II, using all open-source software and cheap hardware. I will be uploading instructions soon, but if you're interested you may want to download the code ahead of time. It uses the Festival Speech Synthesizer, the CMU Sphinx2 speech-to-text program, and includes a modified version of the OpenCyc knowledge base/reasoning engine. It also has a command shell for giving the robot commands for speech and movement, and runs as a daemon with a user-supplied "main" script that governs the robot's actions. I plan on building up some Seris-specific code in the OpenCyc knowledge base, with reference to navigation and task completion, and I still need to get the CV working for my dual webcams, which I will interface somehow with the daemon pipes, but generally it works (I still need to upload my bugfixes for today, but they're just a couple small changes, so one can probably find them expediently on one's own).
If anyone is interested, the project is housed at:.