Shakey was a mobile robot developed by the Artificial Intelligence Center at SRI between 1966 and 1972. It was equipped with sensors and a computer to perceive and model its environment, enabling it to perform tasks requiring planning, route-finding, and object rearrangement. The robot had two versions: the first, developed in 1969, used a TV camera and sensors controlled by an SDS-940 computer, while the second, developed in 1971, used a PDP-10/PDP-15 computer with improved software. Shakey's development contributed to advances in AI techniques, including perception, action planning, and learning. However, much of the detailed information is found in SRI technical reports, which this document aims to make more accessible. The document describes Shakey's architecture, including its robot vehicle, computer system, and hardware. It details Shakey's world model, which is a global data structure used for planning and executing tasks. The robot's actions are divided into low-level actions (LLAs) and intermediate-level actions (ILAs), with LLAs controlling basic movements and ILAs handling more complex tasks. The document also describes Shakey's vision system, which uses a TV camera and range-finder to perceive its environment. It outlines the STRIPS planning system, which is used for task planning, and describes how Shakey learns and executes plans. The document includes a detailed description of Shakey's hardware, software, and the various actions it can perform. It also discusses the challenges of developing autonomous robots and the importance of planning and error recovery in robotic systems.Shakey was a mobile robot developed by the Artificial Intelligence Center at SRI between 1966 and 1972. It was equipped with sensors and a computer to perceive and model its environment, enabling it to perform tasks requiring planning, route-finding, and object rearrangement. The robot had two versions: the first, developed in 1969, used a TV camera and sensors controlled by an SDS-940 computer, while the second, developed in 1971, used a PDP-10/PDP-15 computer with improved software. Shakey's development contributed to advances in AI techniques, including perception, action planning, and learning. However, much of the detailed information is found in SRI technical reports, which this document aims to make more accessible. The document describes Shakey's architecture, including its robot vehicle, computer system, and hardware. It details Shakey's world model, which is a global data structure used for planning and executing tasks. The robot's actions are divided into low-level actions (LLAs) and intermediate-level actions (ILAs), with LLAs controlling basic movements and ILAs handling more complex tasks. The document also describes Shakey's vision system, which uses a TV camera and range-finder to perceive its environment. It outlines the STRIPS planning system, which is used for task planning, and describes how Shakey learns and executes plans. The document includes a detailed description of Shakey's hardware, software, and the various actions it can perform. It also discusses the challenges of developing autonomous robots and the importance of planning and error recovery in robotic systems.