INDEX
A
AC motors, 70–71
accelerometers, 68
actuators
Bug Bot, 53–54
BV-Bot, 53–54
decision-maker flow charts, 54–60
drivers, 69
LEDs, 73
linear actuators, 73
motors. See motors
overview, 69
SMAs (shape memory alloys), 73
solenoids, 73
speakers, 73
ADC (analog to digital converter), 120–121
Advanced State in Innovative Mobility (ASIMO) robots, 142–145
aerial vehicles (UAVs), 189–191
amplifier transistors (BV-Bot), 32–34
analog input (DB-Bot micro-controller), 120
analog to digital converter (ADC), 120–121
antennae (Bug Bot), 3–9
appearance (human-like robots), 204–205
ASIMO (Advanced State in Innovative Mobility) robots, 142–145
attraction to light (BV-Bot), 50–51
audio download jack (DB-Bot), 97–98
autonomous underwater vehicles (AUVs), 191–193
autonomous vacuum cleaners, 152–156
autonomous vehicles (DARPA Grand Challenge), 145–152
autonomy, extended, 201–202
AUVs (autonomous underwater vehicles), 191–193
avoiding light (BV-Bot), 48–49
AXEpad, 121–124
B
ball casters
BV-Bot, 47
DB-Bot, 88–90
batteries
battery holder
Bug Bot, 11–18
battery power connector (DB-Bot), 110–111, 114–116
battery two-pin header (DB-Bot), 99–100
BV-Bot, 113
battery holder
Bug Bot, 11–18
battery power connector (DB-Bot), 110–111, 114–116
battery two-pin header (DB-Bot), 99–100
body extension (DB-Bot), 86–88
Braitenberg Vehicle Bot. See BV-Bot
Bug Bot
actuators, 53–54
building
antennae, 3–9
battery holder, 11–18
legs, 3–9
motor, 19–24
mounting tape, 11–12
on/off switch, 9–11
overview, 2–3
resistor, 12–18
wiring, 19–24
decision-maker flow charts, 54–60
overview, 1–2
sensors, 53–54
building
Bug Bot
antennae, 3–9
battery holder, 11–18
legs, 3–9
motor, 19–24
mounting tape, 11–12
on/off switch, 9–11
overview, 2–3
resistor, 12–18
wiring, 19–24
BV-Bot
amplifier transistors, 32–34
batteries, 113
battery holder, 36–41, 219–221
casters, 47
motors, 43–46
on/off switch, 36–40
overview, 26–29
parts inventory, 27–29, 211–214
phototransistors, 30–32
pin headers, 34–36
prototyping board, 30–32
wheels, 41–42
wiring, 40–41
DB-Bot
audio download jack, 97–98
battery power connector, 110–111, 114–116
battery two-pin header, 99–100
body extension, 86–88
C1 capacitor, 95–96
casters, 88–90
distance sensors, 81–83, 104–106, 114–116
large filter capacitor, 108
LEDs, 106–108
light sensor, 168–172
micro-controller chip, 109
micro-controller socket, 96–97
overview, 78–81
parts inventory, 79–81, 214–218
photo resistors, 171
programming three-pin header, 98–99
prototyping board, 91–93, 109, 112–113, 169, 172
R1 resistors, 93–95
R2 resistors, 93–95
RC servo motors, 83–85, 100–104, 114–116
resistors, 169–170
wheels, 90–91
bump sensors
accelerometers, 68
cameras, 68
distance sensors
building, 81–83, 104–106, 114–116
overview, 65–66
programming, 129–132
infrared proximity sensors, 67–68
LIDARs (laser range finders), 67
microphones, 68
motion sensors, 68
overview, 65
pressure sensors, 68
shaft encoders, 68
sonar sensors, 66
temperature sensors, 68
BV-Bot
actuators, 53–54
building
amplifier transistors, 32–34
batteries, 113
battery holder, 36–41, 219–221
casters, 47
motors, 43–46
on/off switch, 36–40
overview, 26–29
parts inventory, 27–29, 211–214
phototransistors, 30–32
pin headers, 34–36
prototyping board, 30–32
wheels, 41–42
wiring, 40–41
decision-maker flow charts, 54–60
experimenting
avoiding light, 48–49
crossed configuration, 50–51
light attraction, 50–51
overview, 48
straight configuration, 48–49
overview, 25–26
sensors, 53–54
C
C1 capacitor (DB-Bot), 95–96
cameras, 68
capacitors (DB-Bot)
C1 capacitor, 95–96
large filter capacitor, 108
BV-Bot, 47
DB-Bot, 88–90
chips (DB-Bot micro-controller), 109
crossed configuration (BV-Bot), 50–51
D
DARPA (Defense Advanced Research Projects Agency) Grand Challenge, 145–152
DB-Bot
building
audio download jack, 97–98
battery power connector, 110–111, 114–116
battery two-pin header, 99–100
body extension, 86–88
C1 capacitor, 95–96
casters, 88–90
distance sensors, 81–83, 104–106, 114–116
large filter capacitor, 108
LEDs, 106–108
light sensor, 168–172
micro-controller chip, 109
micro-controller socket, 96–97
overview, 78–81
parts inventory, 79–81, 214–218
photo resistors, 171
programming three-pin header, 98–99
prototyping board, 91–93, 109, 112–113, 169, 172
R1 resistors, 93–95
R2 resistors, 93–95
RC servo motors, 83–85, 100–104, 114–116
resistors, 169–170
wheels, 90–91
micro-controllers, 76
overview, 75–78
programming
ADC (analog to digital converter), 120–121
analog input, 120
AXEpad, 121–124
detecting obstacles, 137–139, 161–164
digital input, 119–120
digital output, 118–119
distance sensors, 129–132
environments, 121–124
extending capabilities, 177–181
light sensor, 172–174
micro-controller, 118–121
night patrol, 174–177
PICAXE Programming Editor, 121–124
RC servo motors, 132–137
programs
Light_Sensor.bas, 173–174
MoveBackward.bas, 135–136
readability, 164–168
ReadDistance.bas, 130–132, 137
Stop.bas, 133–135
Stroll.bas, 137–139, 161–162, 164, 174, 177–179
Stroll_LED_Symbol.bas, 165–167
Stroll_Light_Sense.bas, 174–176
TurnLeft.bas, 135–136
TurnOffLED.bas, 125–129
TurnOnLED.bas, 125–129
TurnRight.bas, 135–137
DC motors, 69–70
decision-maker flow charts, 54–60
Defense Advanced Research Projects Agency (DARPA) Grand Challenge, 145–152
detecting obstacles (DB-Bot programming), 137–139, 161–164
digital brains
ASIMO (Advanced State in Innovative Mobility) robots, 142–145
autonomous vacuum cleaners, 152–156
DARPA (Defense Advanced Research Projects Agency) Grand Challenge, 145–152
DB-Bot. See DB-Bot
NASA Mars rovers, 156–160
overview, 141–142
digital input (DB-Bot micro-controller), 119–120
digital output (DB-Bot micro-controller), 118–119
diodes (photodiodes), 62
distance sensors
DB-Bot
building, 81–83, 104–106, 114–116
programming, 129–132
overview, 65–66
download jack (DB-Bot), 97–98
drivers (actuators), 69
drones, 189–191
E
environments
DB-Bot programming, 121–124
robots, 202–203
experimenting (BV-Bot)
avoiding light, 48–49
crossed configuration, 50–51
light attraction, 50–51
overview, 48
straight configuration, 48–49
extended autonomy (robots), 201–202
extending DB-Bot
body, 86–88
capabilities, 177–181
F
filter capacitor (DB-Bot), 108
flow charts, 54–60
flying robots, 189–191
future (robots)
extended autonomy, 201–202
human environments, 202–203
human-like appearance, 204–205
intuitive interaction, 203
learning, 203–204
military, 205
organizations, 206–207
overview, 201
size, 206
social effects, 207
H
headers (DB-Bot)
battery two-pin header, 99–100
programming three-pin header, 98–99
human environments, 202–203
human-like appearance (robots), 204–205
I
industrial robots, 183–187
infrared proximity sensors, 67–68
infrared sensors, 64
input (DB-Bot micro-controller), 119–120
intuitive interaction (robots), 203
inventory (parts)
J–L
jacks (DB-Bot audio download jack), 97–98
large filter capacitor (DB-Bot), 108
laser range finders (LIDARs), 67
learning (robots), 203–204
LEDs, 73
DB-Bot
building, 106–108
light sensors, 64
legs (Bug Bot), 3–9
LIDARs (laser range finders), 67
light
attraction (BV-Bot), 50–51
avoiding (BV-Bot), 48–49
sensors
building DB-Bot, 168–172
infrared sensors, 64
LEDs, 64
overview, 61
photodiodes, 61–62
phototransistors, 62
programming DB-Bot, 172–174
solar cells, 63–64
Light_Sensor.bas program, 173–174
linear actuators, 73
M
Mars rovers, 156–160
medical robots, 187–189
micro-controllers (DB-Bot), 76
ADC (analog to digital converter), 120–121
analog input, 120
chip, 109
digital input, 119–120
digital output, 118–119
programming, 118–121
socket, 96–97
microphones, 68
military robots, 205
mobile robots, 193–199
motion (bump sensors)
accelerometers, 68
cameras, 68
distance sensors
building, 81–83, 104–106, 114–116
overview, 65–66
programming, 129–132
infrared proximity sensors, 67–68
LIDARs (laser range finders), 67
microphones, 68
motion sensors, 68
overview, 65
pressure sensors, 68
shaft encoders, 68
sonar sensors, 66
temperature sensors, 68
motion sensors, 68
motors
AC, 70–71
Bug Bot, 19–24
BV-Bot, 43–46
DC, 69–70
RC servo motors, 71–72
building DB-Bot, 83–85, 100–104, 114–116
programming DB-Bot, 132–137
stepper motors, 73
mounting tape (building Bug Bot), 11–12
MoveBackward.bas program, 135–136
MoveForward.bas program, 135–137
N–O
NASA Mars rovers, 156–160
night patrol (DB-Bot), 174–177
obstacles, detecting, 137–139, 161–164
on/off switch
Bug Bot, 9–11
BV-Bot, 36–40
organizations (robots), 206–207
output (DB-Bot micro-controller), 118–119
P
parts inventory
personal robots, 193–199
photodiodes, 61–62
PICAXE Programming Editor, 121–124
pin headers
BV-Bot, 34–36
DB-Bot
battery, 99–100
programming, 98–99
RC servo motors, 100–104, 114–116
pressure sensors, 68
programming (DB-Bot)
ADC (analog to digital converter), 120–121
analog input, 120
AXEpad, 121–124
detecting obstacles, 137–139, 161–164
digital input, 119–120
digital output, 118–119
distance sensors, 129–132
environments, 121–124
extending capabilities, 177–181
light sensor, 172–174
micro-controller, 118–121
night patrol, 174–177
PICAXE Programming Editor, 121–124
RC servo motors, 132–137
programming three-pin header (DB-Bot), 98–99
programs (DB-Bot)
Light_Sensor.bas, 173–174
MoveBackward.bas, 135–136
readability, 164–168
ReadDistance.bas, 130–132, 137
Stop.bas, 133–135
Stroll.bas, 137–139, 161–162, 164, 174, 177–179
Stroll_LED.bas, 162–167
Stroll_LED_Symbol.bas, 165–167
Stroll_Light_Sense.bas, 174–176
TurnLeft.bas, 135–136
TurnOffLED.bas, 125–129
TurnOnLED.bas, 125–129
TurnRight.bas, 135–137
prototyping board
BV-Bot, 30–32
DB-Bot, 91–93, 109, 112–113, 169, 172
R
R1 resistors (DB-Bot), 93–95
R2 resistors (DB-Bot), 93–95
RC servo motors, 71–72
building DB-Bot, 83–85, 100–104, 114–116
programming DB-Bot, 132–137
readability (programs), 164–168
ReadDistance.bas program, 130–132, 137
remotely operated vehicles (ROVs), 191–192
resistors
Bug Bot, 12–18
DB-Bot
building, 169–170
R1 resistors, 93–95
R2 resistors, 93–95
photo resistors, 171
robots
actuators
Bug Bot, 53–54
BV-Bot, 53–54
decision-maker flow charts, 54–60
drivers, 69
LEDs, 73
linear actuators, 73
motors. See motors
overview, 69
SMAs (shape memory alloys), 73
solenoids, 73
speakers, 73
ASIMO (Advanced State in Innovative Mobility) robots, 142–145
autonomous vacuum cleaners, 152–156
AUVs (autonomous underwater vehicles), 191–193
Bug Bot. See Bug Bot
BV-Bot. See BV-Bot
DARPA (Defense Advanced Research Projects Agency) Grand Challenge, 145–152
DB-Bot. See DB-Bot
drones, 189–191
future
extended autonomy, 201–202
human environments, 202–203
human-like appearance, 204–205
intuitive interaction, 203
learning, 203–204
military, 205
organizations, 206–207
overview, 201
size, 206
social effects, 207
industrial, 183–187
medical, 187–189
mobile robots, 193–199
motors. See motors
NASA Mars rovers, 156–160
personal robots, 193–199
ROVs (remotely operated vehicles), 191–192
sensors. See sensors
service robots, 193–199
surgical, 187–188
telepresence, 188–189
UAVs (unmanned aerial vehicles), 189–191
underwater, 191–193
ROVs (remotely operated vehicles), 191–192
S
sensors
Bug Bot, 53–54
bump sensors
accelerometers, 68
cameras, 68
distance sensors. See distance sensors
infrared proximity sensors, 67–68
LIDARs (laser range finders), 67
microphones, 68
motion sensors, 68
overview, 65
pressure sensors, 68
shaft encoders, 68
sonar sensors, 66
temperature sensors, 68
BV-Bot, 53–54
decision-maker flow charts, 54–60
light
building DB-Bot, 168–172
infrared sensors, 64
LEDs, 64
overview, 61
photodiodes, 61–62
phototransistors, 62
programming DB-Bot, 172–174
solar cells, 63–64
overview, 61
service robots, 193–199
shaft encoders, 68
shape memory alloys (SMAs), 73
size (robots), 206
SMAs (shape memory alloys), 73
social effects, 207
sockets (DB-Bot micro-controller), 96–97
solar cells, 63–64
solenoids, 73
sonar sensors, 66
space exploration, 156–160
speakers, 73
stepper motors, 73
Stop.bas program, 133–135
straight configuration (BV-Bot), 48–49
Stroll.bas program, 137–139, 161–162, 164, 174, 177–179
Stroll_LED.bas program, 162–165, 167
Stroll_LED_Symbol.bas program, 165–167
Stroll_Light_Sense.bas program, 174–176
surgical robots, 187–188
Bug Bot, 9–11
BV-Bot, 36–40
T
telepresence, 188–189
temperature sensors, 68
three-pin header (DB-Bot programming), 98–99
transistors
amplifier transistors, 32–34
TurnLeft.bas program, 135–136
TurnOffLED.bas program, 125–129
TurnOnLED.bas program, 125–129
TurnRight.bas program, 135–137
two-pin header (DB-Bot battery), 99–100
U–V
UAVs (unmanned aerial vehicles), 189–191
underwater robots, 191–193
unmanned aerial vehicles (UAVs), 189–191
vacuum cleaners, 152–156
vehicles
AUVs (autonomous underwater vehicles), 191–193
DARPA (Defense Advanced Research Projects Agency) Grand Challenge, 145–152
NASA Mars rovers, 156–160
ROVs (remotely operated vehicles), 191–192
UAVs (unmanned aerial vehicles), 189–191
W
wheels
BV-Bot
building, 41–42
casters, 47
DB-Bot
building, 90–91
casters, 88–90
wiring
Bug Bot, 19–24
BV-Bot, 40–41