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568 ADDING THE SENSE OF TOUCH
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FIGURE 35.11 The prototype Kynar piezo bend sensor.
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cement it in place using a household glue that sets hard. Run the leads of the microphone to the sound trigger circuit, which should be placed as close to the element as possible.
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Designing and building robot hands Connecting sensors to computers and microcontrollers Collision detection systems Building light sensors Fire, heat, and smoke detection for robotics
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27, Experimenting with Gripper Designs 29, Interfacing with Computers and Microcontrollers 36, Collision Avoidance and Detection 37, Robotic Eyes 39, Fire Detection Systems
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COLLISION AVOIDANCE AND DETECTION
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You ve spent hundreds of hours designing and building your latest robot creation. It s
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filled with complex little doodads and precision instrumentation. You bring it into your living room, fire it up, and step back. Promptly, the beautiful new robot smashes into the fireplace and scatters itself over the living room rug. You remembered things like motor speed controls, electronic eyes and ears, even a synthetic voice, but you forgot to provide your robot with the ability to look before it leaps. Collision avoidance and detection systems take many forms, and all of the basic systems are easy to build and use. In this chapter, we present a number of passive and active detection systems you can use in your robots. Some of the systems are designed to detect objects close to the robot (called near-object, or proximity, detection), and some are designed to detect objects at distances of 10 feet or more (called far-object detection). All use sensors of some type, which detect everything from light and sound to the heat radiated by humans and animals.
Design Overview
Collision avoidance and collision detection are two similar but separate aspects of robot design. With collision avoidance, the robot uses noncontact techniques to determine the proximity and/or distance of objects around it. It then avoids any objects it detects.
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570 COLLISION AVOIDANCE AND DETECTION
Collision detection concerns what happens when the robot has already gone too far, and contact has been made with whatever foreign object was unlucky enough to be in the machine s path. Collision avoidance can be further broken down into two subtypes: near-object detection and far-object detection. By its nature, all cases of collision detection involve making contact with nearby objects. All of these concepts are discussed in this chapter. Note: In this book I make a distinction between a robot hitting something in its path ( collision ) and sensing its environment tactilely by using grippers or feelers ( touch ). Both may involve the same kinds of sensors, but the goal of the sensing is different. Collision sensing is reactive with an emphasis on avoidance; tactile sensing is active with an emphasis on exploring. See 35, Adding the Sense of Touch, for additional information on the sensors used for deliberate tactile feedback. Additionally, robot builders commonly use certain object detection methods to navigate a robot from one spot to the next. Many of these techniques are introduced here because they are relevant to object detection, but we develop them more fully in 38, Navigating through Space.
NEAR-OBJECT DETECTION
Near-object detection does just what its name implies: it senses objects that are close by, from perhaps just a breath away to as much as 8 or 10 feet. These are objects that a robot can consider to be in its immediate environment; objects it may have to deal with, and soon. These objects may be people, animals, furniture, or other robots. By detecting them, your robot can take appropriate action, which is defined by the program you give it. Your bot may be programmed to come up to people and ask them their name. Or it might be programmed to run away whenever it sees movement. In either case, it won t be able to accomplish either behavior unless it can detect objects in its immediate area. There are two ways to effect near-object detection: proximity and distance:
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