Three robots supported by MSRS will be used in examples throughout this book. They are the Create by iRobot (see Figure 1-6), the Boe-Bot by Parallax (see Figure 1-7), and the LEGO Mindstorms NXT (see Figure 1-8). The Create robot is an affordable robot that requires no assembly. The Boe-Bot is also an affordable robot that requires only a little assembly and offers a wide range of possibilities for expansion. The Mindstorms NXT is a surprisingly powerful and affordable robot that includes several useful sensors as well as built-in Bluetooth capabilities.
All three robots featured in this book were chosen because they are small, affordable, and easy to work with. This does not mean that you cannot use MSRS with industrial-strength robots or with complex scenarios involving custom hardware. In fact, there is a group of Princeton students using MSRS to compete in this year’s annual Defense Advanced Research Project Agency (DARPA) Grand Challenge. These undergraduates have designed 25 services running on five different servers to qualify for the autonomous vehicle challenge. (For more information, see the section titled Gearing up for the Urban Challenge.)
Figure 1-7. The Boe-Bot by Parallax requires little assembly and supports a Bluetooth module for remote access.
Figure 1-8. The LEGO Mindstorms NXT is a powerful and affordable robot that includes built-in Bluetooth capabilities.
The remaining robots supported by MSRS, which are listed in Table 1-1, range from small to large, affordable to expensive. Determining which robot to use will depend on your situation. If you are new to robotics, a robot such as the Create might be the ideal robot for you. If you have a little experience and are comfortable assembling small electronics, the Boe-Bot, LEGO Mindstorms NXT, or fischertechnik kits might be a better option. For serious roboticists, there is the Kondo KHR-1 or the Pioneer 3DX. There is also the robotic arm made by industrial robot maker KUKA. This six-axis, jointed-arm robot is featured in several tutorials available on the KUKA Web site (http://www.kuka.com/usa/en/products/software/educational_framework/).
Note
The prices in Table 1-1 are subject to change; you should check the URLs in the Description column for the latest prices.
Table 1-1. Supported Robots
Robot | Description | Price |
|---|---|---|
iRobot Create or Roomba | Several different Roomba models are available, but you might prefer to work with the Create robot (see Figure 1-7 earlier) because it was designed specifically for programmers interested in robotics. You can purchase the Create robot here: http://store.irobot.com/family/index.jsp?categoryId=2591511. | $129.99 and up |
Parallax Boe-Bot BASIC Stamp Robot | The Boe-Bot is a wheeled robot offering sensors such as photoresistors, bumpers, and infrared sensors. By using one of the add-in kits, you can turn your Boe-Bot into a tank or a crawler, or you can equip it with a camera and use it for surveillance. You can purchase the Boe-Bot serial or USB version from the Parallax Web site: http://www.parallax.com/detail.asp?product_id=28132. | $149.95 |
This is LEGO’s latest robot kit. It features a 32-bit processor and allows you to control your robot remotely using Bluetooth. It also includes several sensors such as a sound sensor, ultrasonic visual sensor, and improved light and touch sensors. You can purchase the NXT from the LEGO Web site: http://shop.lego.com/Product/?p=8527. | $249.99 | |
fischertechnik | This German-based company offers several computing robotics kits that allow you to build whatever kind of robot you prefer. To be compatible with MSRS, the kit must include the 16-bit ROBO interface. To order one of the robot kits, go here: http://www.fischertechnik.com/html/computing-robot-kits.html. | $332.99 and up |
Kondo KHR-1 | This Japanese humanoid robot is able to perform kung-fu fighting and acrobatics. Intended to be used as serious competition in robot wars, this robot is expensive and can be purchased here: http://www.robotshop.ca/home/suppliers/kondo-en/index.html. | $1,632.09 price can vary depending on reseller |
MobileRobots Pioneer 3DX | This wheeled robot from MobileRobots Inc. allows you to execute MSRS code directly on the robot by using either the built-in 32-bit processor or an onboard laptop computer. It also includes several sensors such as bumpers, grippers, laser rangefinders, and a compass. You can get more information about this robot here: http://www.activrobots.com/ROBOTS/p2dx.html. |
One important thing to keep in mind is that MSRS is not just for hobbyists. It can be used to power some of the most sophisticated robots in the world. The robots listed in Table 1-1 represent only a small fraction of the robots available on the market today. They are just the ones that MSRS has built-in services for. There are other robots in which MSRS services have been written. For example, Robotics Connection, maker of the Traxster robotic kit (http://www.roboticsconnection.com/pc-15-3-traxster-robot-kit.aspx), offers MSRS services downloadable from its Web site. This rugged and fully expandable robot includes tank treads and can be a good starter kit for those new to robotics.
Depending on the robot you are working with, the time required to assemble the robot and configure it to work with MSRS will vary. Some of the robots supported by MSRS (such as the iRobot Create) come pre-assembled and involve very little configuration. Other robots (such as the LEGO Mindstorms NXT and Parallax Boe-Bot) can take more time to assemble but provide an opportunity to learn more about how the robotics hardware works.
Tip
If you are new to the field of robotics and you are trying to decide which robot kit to purchase, consider this: The Create by iRobot will be the simplest to work with because no assembly is required. The LEGO Mindstorms NXT requires considerable assembly, but it also offers a wide range of possibilities for how the robot looks and behaves. The Boe-Bot by Parallax is the most complex robot to work with, but it offers valuable insight into how electronic-based robots work. This can be very valuable for readers who are interested in building their own robots from scratch one day.
MSRS comes with prebuilt services that allow you to work with the list of supported robots. However, you are able to build applications for unsupported hardware by writing your own services. The unsupported robot or device will need to expose a remote communications interface that is used to control the motors and read data from sensors. If your hardware does not already have this, you’ll have to create an interface by using the coding platform that works with your robot or device. For readers interested in working with a unsupported hardware, refer to Chapter 7.