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2.3 Autonomous versus Teleoperated
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Among the first robots ever demonstrated for a live audience were the automatons of the Middle Ages. These robots were actually machines either performing a preset series of motions or 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. 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 R2-D2 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 Rovers Sojourner, Spirit, and Opportunity, are actually half remote controlled and half autonomous. The low-level functions of the robot are handled by microprocessors onboard the machines. 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
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ANATOMY OF A ROBOT
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provide feedback to the human operator, who can then 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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2.4 The Body of the Robot
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Like the human body, the body of a robot at least a self-contained one holds all its vital parts. The body is the superstructure that prevents its electronic and electromechanical guts from spilling out. Robot bodies go by many names, including frame and chassis, but the idea is the same.
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2.4.1 SKELETAL STRUCTURES
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In nature and in robotics, there are two general types of support frames: endoskeleton and exoskeleton. Which is better Both: in nature, the living conditions of the animal and its eating and survival tactics determine which skeleton is best. The same is true of robots.
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Endoskeleton support frames are found in many critters, including humans, mammals, reptiles, and most fish. The skeletal structure is on the inside; the organs, muscles, body tissues, and skin are on the outside of the bones. The endoskeleton is a characteristic of vertebrates. Exoskeleton support frames have the bones on the outside of the organs and muscles. Common creatures with exoskeletons are spiders, all shellfish such as lobsters and crabs, and an endless variety of insects.
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