Mobile Robots: Inspiration to Implementation,

The new edition reflects technological developments and includes programs and activities for robot enthusiasts. Using photographs, illustrations, and informative text, Mobile Robots, 2nd Edition guides the reader through the step-by-step process of constructing two different and inexpensive yet fully functional robots.

Preface to the Second Edition

xiii

(6)

Preface

xix

1 Introduction

1

(12)

1.1 References

10

(3)

2 TuteBot

13

(30)

2.1 A Tutorial Robot

13

(2)

2.2 TuteBot Behaviors

15

(3)

2.3 Building TuteBot

18

(7)

2.4 Electronic components

25

(4)

2.5 Electronic Construction

29

(5)

2.6 Operation

34

(7)

2.7 Exercises for the Reader

41

(1)

2.8 References

41

(2)

3 Computational Hardware

43

(52)

3.1 Rug Warrior's Design Strategy

44

(4)

3.2 Microprocessors

48

(1)

3.3 The Canonical Computer

49

(7)

3.4 Expansion

56

(3)

3.5 Data Buffer

59

(2)

3.6 Rug Warrior Logic

61

(4)

3.7 Hardware-Software Interface

65

(16)

3.8 Real-Time Control

81

(8)

3.9 Loading a Program

89

(3)

3.10 Getting Started

92

(1)

3.11 References

93

(2)

4 Designing and Prototyping

95

(16)

4.1 Practical Problems

95

(7)

4.2 Connectors

102

(3)

4.3 Printed Circuit Boards

105

(4)

4.4 Debugging

109

(2)

5 Sensors

111

(58)

5.1 Achieving Perception

111

(3)

5.2 Interfacing Sensors

114

(6)

5.3 Light Sensors

120

(17)

5.4 Force Sensors

137

(5)

5.5 Sound Sensors

142

(8)

5.6 Position and Orientation

150

(14)

5.7 Proprioceptive Sensors

164

(2)

5.8 Exercise

166

(2)

5.9 References

168

(1)

6 Mechanics

169

(24)

6.1 Locomotion

169

(10)

6.2 Adapting Mobile Platforms

179

(4)

6.3 Legged Locomotion

183

(1)

6.4 Construction Systems

183

(1)

6.5 Custom Construction

184

(7)

6.6 Exercise

191

(1)

6.7 References

191

(2)

7 Motors

193

(72)

7.1 Variety Abounds

193

(6)

7.2 How a DC Motor Works

199

(4)

7.3 Sizing a DC Motor

203

(8)

7.4 Gears

211

(2)

7.5 Motor Data Sheets

213

(5)

7.6 Motors for Rug Warrior

218

(8)

7.7 Interfacing Motors

226

(23)

7.8 Software for Driving Motors

249

(14)

7.9 References

263

(2)

8 Power

265

(18)

8.1 Batteries

265

(7)

8.2 Recharging

272

(1)

8.3 Power Regulation

273

(5)

8.4 Isolation

278

(3)

8.5 References

281

(2)

9 Robot Programming

283

(30)

9.1 The Traditional Approach

284

(4)

9.2 Behavior Control

288

(4)

9.3 Rug Warrior's Program

292

(2)

9.4 Implementing Behavior Control

294

(8)

9.5 Behavior Control in IC

302

(7)

9.6 What Did We Do?

309

(2)

9.7 References

311

(2)

10 Robot Projects

313

(24)

10.1 Projects for Individual Robots

313

(11)

10.2 Multi-Robot Projects

324

(11)

10.3 References

335

(2)

11 Robot Applications

337

(18)

11.1 Down and Dirty

338

(4)

11.2 Making the Rounds

342

(2)

11.3 In Harm's Way

344

(9)

11.4 Summary

353

(1)

11.5 References

353

(2)

12 Robot Design Principles

355

(6)

12.1 Complexity Kills

355

(1)

12.2 Holistic Robotics

356

(1)

12.3 Code versus Reality

356

(1)

12.4 Computer Program Not equal to Robot Program

357

(1)

12.5 Magician's Bag

357

(1)

12.6 Avoiding "Usually"

358

(1)

12.7 Design Steps

358

(3)

13 Unsolved Problems

361

(6)

13.1 Navigation

362

(1)

13.2 Recognition

362

(1)

13.3 Learning

363

(1)

13.4 Gnat Robots

363

(1)

13.5 Cooperation

364

(1)

13.6 Thoughts

364

(1)

13.7 Exercise

365

(1)

13.8 References

366

(1)

14 A Schematics

367

(10)

15 B Rug Warrior Programs

377

(20)

B.1 Bugle

379

(1)

B.2 Theremin

380

(2)

B.3 Yo-Yo

382

(1)

B.4 Wimp

383

(2)

B.5 Follow

385

(1)

B.6 Echo

386

(3)

B.7 Sonic Commander

389

(3)

B.8 Auxilary Code

392

(1)

B.9 Velocity Control Code

393

(4)

C Yellow Pages

397

(24)

C.1 Suppliers

398

(21)

C.2 Products

419

(2)

D Trade Magazines

421

(4)

E Data Books

425

(12)

F Robot Contests

437

(4)

G Color and ASCII Codes

441

(2)

Bibliography

443

(8)

Index

451

What is included with this book?

The New copy of this book will include any supplemental materials advertised. Please check the title of the book to determine if it should include any access cards, study guides, lab manuals, CDs, etc.

The Used, Rental and eBook copies of this book are not guaranteed to include any supplemental materials. Typically, only the book itself is included. This is true even if the title states it includes any access cards, study guides, lab manuals, CDs, etc.

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Mobile Robots: Inspiration to Implementation, Second Edition

Summary

Table of Contents

Supplemental Materials