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Mobile versus Stationary
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Not all robots are meant to scoot around the floor. Some are designed to stay put and manipulate some object placed before them. In fact, outside of the research lab and hobbyist garage, the most common types of robots, those used in manufacturing, are stationary. Such robots assist in making cars, appliances, and even other robots!
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MOBILE VERSUS STATIONARY 11
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FIGURE 2.1 This quadruped from General Electric was controlled by a human operator who sat inside it. The robot was developed in the late 1960s under a contract with the U.S. government. Photo courtesy of General Electric.
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Other common kinds of stationary robots act as shields between a human operator or supervisor and some dangerous material, such as radioactive isotopes or caustic chemicals. Stationary robots are armlike contraptions equipped with grippers or special tools. For example, a robot designed for welding the parts of a car is equipped with a welding torch on the end of its arm. The arm itself moves into position for the weld, while the car slowly passes in front of the robot on a conveyor belt. Conversely, mobile robots are designed to move from one place to another. Wheels, tracks, or legs allow the robot to traverse a terrain. Mobile robots may also feature an armlike appendage that allows them to manipulate objects around them. Of the two stationary or mobile the mobile robot is probably the more popular
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12 ANATOMY OF A ROBOT
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project for hobbyists to build. There s something endearing about a robot that scampers across the floor, either chasing or being chased by the cat. As a serious robot experimenter, you should not overlook the challenge and education you can gain from building both types of robots. Stationary robots typically require greater precision, power, and balance, since they are designed to grasp and lift objects hopefully not destroying the objects they handle in the process. Likewise, mobile robots present their own difficulties, such as maneuverability, adequate power supply, and avoiding collisions.
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Autonomous versus Teleoperated
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Among the first robots ever demonstrated for a live audience were fake robots that were actually machines remotely controlled by a person off stage. No matter. People thrilled at the concept of the robot, which many anticipated would be an integral part of their near futures (like flying to work in your own helicopter and colonies on Mars by 1975 yeah, right!). These days, the classic view of the robot is a fully autonomous machine, like Robby from Forbidden Planet, Robot B-9 from Lost in Space, or that R2-D2 thingie from Star Wars. With these robots (or at least the make-believe fictional versions), there s no human operator, no remote control, no man behind the curtain. While many actual robots are indeed fully autonomous, many of the most important robots of the past few decades have been teleoperated. A teleoperated robot is one that is commanded by a human and operated by remote control. The typical tele-robot uses a video camera that serves as the eyes for the human operator. From some distance perhaps as near as a few feet to as distant as several million miles the operator views the scene before the robot and commands it accordingly. The teleoperated robot of today is a far cry from the radio-controlled robots of the world s fairs of the 1930s and 1940s. Many tele-robots, like the world-famous Mars Rover Sojourner, the first interplanetary dune buggy, are actually half remote controlled and half autonomous. The low-level functions of the robot are handled by a microprocessor on the machine. The human intervenes to give general-purpose commands, such as go forward 10 feet or hide, here comes a Martian! The robot is able to carry out basic instructions on its own, freeing the human operator from the need to control every small aspect of the machine s behavior. The notion of tele-robotics is certainly not new it goes back to at least the 1940s and the short story Waldo by noted science fiction author Robert Heinlein. It was a fantastic idea at the time, but today modern science makes it eminently possible. Stereo video cameras give a human operator 3-D depth perception. Sensors on motors and robotic arms provide feedback to the human operator, who can actually feel the motion of the machine or the strain caused by some obstacle. Virtual reality helmets, gloves, and motion platforms literally put the operator in the driver s seat. This book doesn t discuss tele-robotics in any extended way, but if the concept interests you, read more about it and perhaps construct a simple tele-robot using a radio or infrared link and a video camera. See Appendix A, Further Reading, for more information.
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