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30.4.3 OTHER APPROACHES FOR SOFT-TOUCH SENSORS
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There are several other approaches for using soft-touch sensors. For example, the resistive bend sensor changes its resistance the more it is curved or bent. Positioned in the front of your robot in a loop, the bend sensor could be used to detect the deflection caused by running into an object. If you like the idea of piezoelectric elements but want a more localized touch sensor than the touch bar described in the previous section, you might try mounting piezoelectric material and discs on rubber or felt pads, or even to the bubbles of bubble pack shipping material, to create fingers for your bot.
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30.5 From Here
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To learn more about . . . Connecting analog and digital sensors to computers, microcontrollers, and other circuitry Building and using sensors for tactile feedback Giving your robots the gift of sight Using sensors to provide navigation assistance to mobile robots Read 14, Computer Peripherals
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29, The Sense of Touch 32, Robot Vision 33, Navigation
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CHAPTER
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SOUND INPUT AND OUTPUT
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he robots of science fiction are seldom mute or deaf. They may speak pithy warnings the most famous probably being: Danger, Danger, Will Robinson or squeak out blips and beeps in some advanced language only other robots can understand. Voice and sound input and output make a robot more humanlike, or at least more entertaining. What is a personal robot for if not to entertain What s good for robots in novels and in the movies is good enough for us, so this chapter presents a number of useful projects for giving your mechanical creations the ability to make and hear noise. The projects include using recorded sound, generating warning sirens, recognizing and responding to your voice commands, and listening for sound events. Admittedly, this chapter only scratches the surface of what s possible today, especially with technologies like MP3 compressed digitized sound.
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31.1 Cassette Recorder Sound Output
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Before electronic doodads took over robotics there were mechanical solutions for just about everything. While they may not always have been as small as an electrical circuit, they were often easier to use. Case in point: you can use an ordinary cassette tape and playback mechanism to produce music, voice, or sound effects. Tape players and tape player mechanisms are common finds in the surplus market, and you can often find complete (and still working) portable cassette players-recorders at thrift stores. With just a few
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SOUND INPUT AND OUTPUT
FIGURE 31-1 A surplus cassette deck transport. This model is entirely solenoid driven and so is perfect for robotics.
wires you can rig a cassette tape player in the robot and have the sound played back, on your command. When looking for a cassette player try to find the kind shown in Fig. 31-1, which is solenoid controlled. These are handy for your robot designs because instead of pressing mechanical buttons, you can actuate solenoids by remote or computer control to play, fastforward, or rewind the tape. They can be somewhat difficult to find as they are usually built into more expensive soft-touch tape decks and are not readily found in surplus bins. For most cassette decks you only need to provide power to operate the motor(s) and solenoids (if any) and a connection from the playback head to an amplifier. Since you are not using the deck for recording, you don t have to worry about the erase head or biasing
TABLE 31-1 IC1 R1 R2 R3 C1
Parts List for Cassette Tape Head Player Amplifier LT1007 low-noise operational amplifier (Linear Technology) 330K resistor 4.9K resistor 100- resistor 0.1 F ceramic capacitor
31.2 ELECTRONICALLY RECORDED SOUND OUTPUT
+V R1 5K C1 0.1 R3 330K R2 100
7 6 Output
Input
LT1007 3 + 4
FIGURE 31-2 Preamplifier circuit for use with a magnetic tape playback head.
the record head. If the deck already has a small preamplifier for the playback head, use it. It ll improve the sound quality. If not, you can use the tape head preamplifier shown in Fig. 31-2 (you can use a less expensive op amp than the one specified in the parts list in Table 31-1, but noise can be a problem). Place the preamplifier board as close to the cassette deck as possible to minimize stray pickup.
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