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A robot arm capable of moving in three dimensions using revolute geometry is shown in Fig. 34-5. The whole arm can rotate through a full circle (360 degrees) at the base point, or shoulder. There is also an elevation joint at the base that can move the arm through 90 degrees, from horizontal to vertical. A joint in the middle of the robot arm, at the elbow, moves through 180 degrees, from a straight position to dou-
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652 Robotics and artificial intelligence
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Sliding and rotating movement Telescoping arm
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y x Reference plane
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z Reference axis
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34-4 Cylindrical coordinate geometry in three dimensions. Variable x represents reach; y represents elevation; z represents rotation.
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bled back on itself. There might be, but is not always, a wrist joint that can flex like the elbow and/or twist around and around. A 90-degree-elevation revolute robot arm can reach any point within a half sphere. The radius of the half sphere is the length of the arm when its elbow and wrist (if any) are straightened out. A 180-degree-elevation revolute arm can be designed that will reach any point within a fully defined sphere, with the exception of the small obstructed region around the base.
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Robotic hearing and vision
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Machine hearing involves more than just the picking up of sound (done with a microphone) and the amplification of the resulting audio signals (done with an amplifier). A sophisticated robot can tell from which direction the sound is coming and perhaps deduce the nature of the source: human voice, gasoline engine, fire, or barking dog.
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Robotic hearing and vision 653
Elbow
Wrist
Shoulders
Base
34-5 An example of revolute geometry. The movements resemble those of a human arm.
Binaural hearing
Even with your eyes closed, you can usually tell from which direction a sound is coming. This is because you have binaural hearing. Sound arrives at your left ear with a different intensity, and in a different phase, than it arrives at your right ear. Your brain processes this information, allowing you to locate the source of the sound, with certain limitations. If you are confused, you can turn your head until the sound direction becomes apparent to you. Robots can be equipped with binaural hearing. Two sound transducers are positioned, one on either side of the robot s head. A microprocessor compares the relative phase and intensity of signals from the two transducers. This lets the robot determine, within certain limitations, the direction from which sound is coming. If the robot is confused, it can turn until the confusion is eliminated and a meaningful bearing is obtained. If the robot can move around and take bearings from more than one position, a more accurate determination of the source location is possible if the source is not too far away.
654 Robotics and artificial intelligence
Hearing and AI
With the advent of microprocessors that can compare patterns, waveforms, and huge arrays of numbers in a matter of microseconds, it is possible for a robot to determine the nature of a sound source, as well as where it comes from. A human voice produces one sort of waveform, a clarinet produces another, a growling bear produces another, and shattering glass produces yet another. Thousands of different waveforms can be stored by a robot controller and incoming sounds compared with this repertoire. In this way, a robot can immediately tell if a particular noise is a lawn mower going by or person shouting, an aircraft taking off or a car going down the street. Beyond this coarse mode of sound recognition, an advanced robot can identify a person by analyzing the waveform of his or her voice. The machine can even decipher commonly spoken words. This allows a robot to recognize a voice as yours or that of some unknown person and react accordingly. For example, if you tell your personal robot to get you a hammer and a box of nails, it can do so by recognizing the voice as yours and the words as giving that particular command. But if a burglar comes up your walkway, approaches your robot, and tells it to go jump in the lake, the robot can trundle off, find you by homing in on the transponder you re wearing for that very purpose, and let you know that an unidentified person in your yard just told it to hydrologically dispose of itself.
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