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Depending on your time, budget, and construction skill, you may wish to endow your robot(s) with a number of other useful features, such as:
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I Sound output perhaps combining speech, sound effects, and music. I Variable speed motors so your robot can get from room to room in a hurry but slow
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down when it s around people, pets, and furniture.
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I Set-and-forget motor control, so the brains on board that is controlling your bot needn t
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spend all its processing power just running the drive motors.
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I Distance sensors for the drive motors so the robot knows how far it has traveled
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( odometry ).
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I Infrared and ultrasonic sensors to keep the robot from hitting things. I Contact bumper switches on the robot so it knows when it s hit something and to stop
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698 TIPS, TRICKS, AND TIDBITS FOR THE ROBOT EXPERIMENTER
I LCD panels, indicator lights, or multidigit displays to show current operating status. I Tilt switches, gyroscopes, or accelerometers to indicate when the robot has fallen over,
or is about to.
I Voice input, for voice command, voice recognition, and other neat-o things. I Teaching pendant and remote control so you can move a joystick to control the drive
motors and record basic movements. Of course, we discussed all of these in previous chapters. Review the table of contents or index to locate the relevant text on these subjects.
Reality versus Fantasy
In building robots it s important to separate the reality from the fantasy. Fantasy is a Star Wars R2-D2 robot projecting a hologram of a beautiful princess. Reality is a homebrew robot that scares the dog as it rolls down the hallway and probably hits the walls as it goes. Fantasy is a giant killer robot that walks on two legs and shoots a death ray from a visor in its head. Reality is foot-tall trash can robot that pours your houseguests a Diet Coke. Okay, so it spills a little every now and then . . . now you know why a robot equipped with a vacuum cleaner comes in handy! It s easy to get caught up in the romance of designing and building a robot. But it s important to be wary of impossible plans. Don t attempt to give your robot features and capabilities that are beyond your technical expertise, budget, or both (and let s not also forget the limits of modern science). In attempting to do so, you run the risk of becoming frustrated with your inability to make the contraption work, and you miss out on an otherwise rewarding endeavor. When designing your automaton, you may find it helpful to put the notes away and let them gel in your brain for a week. Quite often, when you review your original design, you will realize that some of the features and capabilities are mere wishful thinking, and beyond the scope of your time, finances, or skills. Make it a point to refine, alter, and adjust the design of the robot before, and even during, construction.
Understanding and Using Robot Behaviors
A current trend in the field of robot building is behavior-based robotics, where you program a robot to act in some predictable way based on both internal programming and external input. For example, if the battery of your robot becomes weak, it can be programmed with a find energy behavior that will signal the robot to return to its battery charger. Behaviors are a convenient way to describe the core functionality of robots a kind of component architecture to define what a robot will do given a certain set of conditions.
UNDERSTANDING AND USING ROBOT BEHAVIORS 699
The concept of behavior-based robotics has been around since the 1980s and was developed as a way to simplify the brain-numbing computational requirements of artificial intelligence systems popular at the time. Behavior-based robotics is a favorite at the Massachusetts Institute of Technology, and Professor Rodney Brooks, a renowned leader in the field of robot intelligence, is one of its major proponents. Since the introduction of behavior-based robotics, the idea has been discussed in countless books, papers, and magazine articles, and has even found its way into commercial products. The LEGO Mindstorms robots, which are based on original work done at MIT, use behavior principles. See Appendix A, Further Reading, for books that contain useful information on behavior-based robotics.
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