Jenny 5 robot is under active development. 

During the development of the Jenny 5 robot I have observed several weaknesses that I plan to address in future iterations.

Some short term ideas (and their purpose) are listed below:

• Rotatable body -- Could reach farther objects without moving the base platform.
• Springs on upper arm-body articulation -- Will lift heavier weights.
• Two legs -- More stability and could climb stairs.
• Intelligent algorithm for grabbing a bottle -- More intelligence.
• Change speed for stepper motors during run -- Finer control of the arms.
• LiDAR on platform and head -- Better detection of obstacles.
• Visualizing the LiDAR on the client application -- Can send the robot far away and see what it sees.
• Visualizing the camera (real time video) on the client application -- Can send the robot far away and see what it sees.
• Arms electronics build around Arduino Mega -- Could attach more sensors to arms.
• Custom made PCBs for leg and platform -- Can have own software and can attach more sensors to them.
• Carbon fiber sheets -- To reduce the total weight of the robot.
• Body movable back and forward -- To make the robot more stable on inclined plane.
• Magnetic rotary sensors on leg -- To determine the exact position of leg.
• Magnetic rotary sensors on platform gears -- To determine the true speed of the platform.
• Gyroscope on platform -- To determine if the robot will fall.