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While primarily of a photovore (light-seeking) type, the robot exhibited four modes of operation. It should be mentioned that the robot s steering motor and drive motor were usually active. Search. Ambient environment is at a low light level or darkness. Robot s response: steering motor on full speed, drive motor on one-half speed. Move. Found light. Robot s response: steering motor off, drive motor full speed. Dazzle. Bright light. Robot s response: steering one-half speed, drive motor reversed. Touch. Hit obstacle. Robot s response: steering full speed, reverse drive motor.
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Observed behavior
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In the 1950s, Walter wrote two Scientific American articles ( An Imitation of Life, May 1950; A Machine That Learns, August 1951) and later a book titled The Living Brain (Norton, New York, 1963). The interaction between the neural system and the environment generated unexpected and complex behaviors. In one experiment Walter built a hutch, where Elsie could enter and recharge its battery. The hutch was equipped with a small light that would draw the robot to it as the robot s batteries ran down. The robot would enter the hutch and its battery would automatically be recharged. Once the battery recharged, the robot would leave the hutch to search for new light sources. In another experiment Walter fixed small lamps on each tortoise shell. The robots developed an interaction that to an observer appeared like a kind of social behavior. The robots danced around each other, at times attracted and then repelled, reminding one of a robotic mating ritual or territorial-marking behavior.
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Building a Walter tortoise
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We can imitate most functions in Walter s famous tortoise. The program we will use simulates the neurons used in the original robot. To fabricate the chassis, we need to do a little metalwork. Working metal is made a lot easier with the following tools: Center punch. Used to make a dimple in sheet metal to facilitate drilling. Without the dimple, the drill is more likely to walk off the drill mark. To use, hold the center punch in the
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@@@@@@@ &&&&&&&&& %%%%%%%% ############# Team LRN
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center of the hole needing to be drilled. Hit the center punch with the hammer to make a dimple. Hand shears. Used to cut sheet metal. I would advise the purchase of 14 metal shears. Use like scissors to cut metal. Note: Metal is a lot harder to cut than paper. Nibbler. Used to remove (nibble) small bits of metal from a sheet. Used to nibble cutouts and square holes in light-gauge sheet metal. Note: Radio Shack sells an inexpensive nibbler. Vise. Used to hold metal for drilling and bending. Drill Hammer Most hardware stores will carry these simple metalworking tools. They will also carry the light-gauge sheet metal and aluminum bar needed to make the chassis. I built my chassis out of 1 8 1 2 aluminum rectangle bar and 22to 24-gauge stainless-steel sheet metal. Stainless steel is harder to work with than cold-rolled steel (CRS), and if I had to do it over again, I would use aluminum or CRS. Drive and steering motors The drive motor is a 100:1 gearbox motor (see Fig. 8.1). I like this gearbox motor because it has a motor mounting bracket. For the steering motor I used a standard 42-ounce (oz) torque servo motor. There are three pieces of sheet metal one needs to fabricate.
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8.1 100:1, 1.5- to-3.0 VDC gearbox motor
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%%%%%%%% ############# Team LRN Behavioral-based robotics, neural networks, nervous nets, and subsumption architecture @@@@@@@ &&&&&&&&&
hole
NOT TO SCALE
L channel U channel 1" Gearbox motor 2" Wheel 2"
Bend 90
Holes for servo horn
U channel wheel mount
Bend 90
Holes to match holes in L bracket
5/ 4"
8" 1/ 8"
1:1 SCALE
8.2 U channel wheel mount detail
The U channel (see Fig. 8.2) holds the front wheel and drive motor. The U bracket is fabricated from 22-gauge, 1 5 sheet metal. Three holes in the center area are drilled to mount the servo horn from the servo motor. The center drill hole (1 8 ) is larger than the two outer holes (1 16 ). Remove the servo horn from the servo motor by unscrewing the center screw and pulling straight up on the horn. Line up the servo horn on the bracket and mark the center and two outer holes. Drill the three holes. Mount the servo horn, using the center servo motor screw. For the outer holes use two 0-80 machine screws and nuts. Drill three 1 8 holes for mounting the L bracket to the side. Drill the two axle holes for the front wheel. Use 1 8 holes.
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