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Computer and microcontroller options for robotics Interfacing sound inputs/outputs to a computer or microcontroller Sensors to prevent your robot from bumping into things Eyes to go along with the ears of your robot
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28, An Overview of Robot Brains 29, Interfacing with Computers and Microcontrollers 36, Collision Avoidance and Detection 37, Robotic Eyes
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EXPERIMENTING WITH TILT AND GRAVITY SENSORS
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very schoolchild learns, the human body has five senses: sight, hearing, touch, smell, and taste. These are primary developed senses; yet the body is endowed with far more senses, including many we often take for granted. These more primitive human senses are typically termed sixth senses a generic phrase for a sense that doesn t otherwise fit within the common five. One of the most important sixth senses is the sense of balance. This sense is made possible by a complex network of nerves throughout the body, including those in the inner ear. The sense of balance helps us to stand upright and to sense when we re falling. When we re off balance, the body naturally attempts to reestablish an equilibrium. The sense of balance is one of the primary prerequisites for two-legged walking. Our sense of balance combines information about both the body s angle and its motion. At least part of the sense of balance is derived from a sensation of gravity the pull on our bodies from the earth s mass. Gravity is an extraordinarily strong physical force, but strangely enough it is not often used in hobby robotics because accurate sensors for measuring it have been prohibitively expensive. But just consider the possibilities if a robot were given the ability to feel gravity. The same forces of gravity that help us to stay upright might provide a two-legged robot with the sensation that would keep it upright. Or a rolling robot on wheels or tracks might avoid tipping over and damaging something by determining if its angle is too steep. The sense of gravity might enable the robot to avoid traveling over that terrain, or it might tell the robot to shift some internal ballast weight (assuming it were so equipped) to change its center of balance.
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In this chapter we ll explore various ways, from the simple to the not-so-simple, to endow your robot with a sense of balance so it can determine its motion and its physical orientation on this earth.
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Sensors to Measure Tilt
One of the most common means for providing a robot with a sense of balance is to use a tilt sensor or tilt switch. The sensor or switch measures the relative angle of the robot with respect to the center of the earth. If the robot tips over, the angle of the sensor or switch changes, and this can be detected by electronics in the robot. Tilt sensors and switches come in various forms and packages, but the most common are the following:
I Mercury-filled glass ampoules that form a simple on/off switch. When the tilt switch is
in one position (say, horizontal), the liquid-mercury metal touches contacts inside the ampoule, and the switch is closed. But when the switch is rotated to vertical, the mercury no longer touches the contacts, and the switch is open. The major disadvantage of mercury tilt switches is the mercury itself, which is a highly toxic metal. I The ball-in-cage (see Fig. 41.1) is an all-mechanical switch popular in pinball machines and other devices where small changes in level are required. The switch is a square or round capsule with a metal ball inside. Inside the capsule are two or more electrical contacts. The weight of the ball makes it touch the electrical contacts, which forms a switch. The capsule may have multiple contacts so it can measure tilt in all directions. I Electronic spirit-level sensors use the common fluid bubble you see on ordinary levels at the hardware store plus some interfacing electronics. A spirit level is merely a glass tube filled, though not to capacity, with water or some other fluid. A bubble forms at the top of the tube since it isn t completely filled. When you tilt the tube gravity makes the bubble slosh back and forth. An optical sensor an infrared LED and detector, for example can be used to measure the relative size and position of the bubble. I Electrolytic tilt sensors are like mercury switches but more complex and a lot more costly. In an electrolytic tilt sensor a glass ampoule is filled with a special electrolyte liquid that is, a liquid that conducts electricity but in very measured amounts. As the switch tilts, the electrolyte in the ampoule sloshes around, changing the conductivity between two (or more) metal contacts.
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