EPGY Middle School Programming Adam Leeper Intro to Robotics EPGY Middle School Programming Adam Leeper

What is a robot?

What is a robot?

What is a robot?

What is a robot?

What is a robot? Can sense the environment. Can make independent decisions. Can complete a task automatically.

Robot vs. Humans Pros: Cons: Robots can be arbitrarily fast, strong, or large. Robots can record vast amounts of data. Robots can run in dangerous environments. Cons: Robots are stupid and inflexible. Robots are really bad at dexterous manipulation. Robots are dangerous.

What senses do robots have? “Vision” Cameras IR range sensors “Hearing” Microphones “Touch” Bump sensors Capacitive and resistive sensors

What senses do robots have? “Other” Ultrasonic Radio/GPS Smell/Taste Maybe smoke detectors, but not commonly used.

Ultrasonic Sensor Uses high-frequency sound we can’t hear. Sound travels at 343 m/s in air. Can measure distance by measuring time between a ping sent and received.

Touch Sensor Simplest is a contact switch. An electrical path is completed when pressed. Power Switch Sensor output Resistor Ground

Light Sensor Many types. Similar to a touch sensor, a simple light sensor has an electrical semiconductor component that changes resistance when exposed to light.

Sound Sensor It’s a microphone! Sound waves are converted to electrical signals.

How do robots make decisions? Individual sensors. Sensor fusion. Statistical methods. Math formulas from a variety of science areas. http://www.youtube.com/user/WillowGaragevideo#p/u/30/VWxAk7Yeifs

Open-loop vs. Closed-loop This is the field of Controls. Open-loop Simple, but can have large errors. Closed-loop Requires sensors, but can correct for errors.

Temperature Controller Desired temperature Controller Actuator(Heater) Sensor (thermometer) Actual temperature

Cool Robot Videos http://www.youtube.com/user/WillowGaragevideo#p/u/2/HMx1xW2E4Gg http://www.youtube.com/user/WillowGaragevideo#p/u/31/0WtGgpuS3qE

How do robots move? Motors and wheels Legs http://www.youtube.com/watch?v=W1czBcnX1Ww

Drive Train Direct Drive Gear Transmission Belt/Cable Drive Efficient, no backlash Low torque Gear Transmission High torque Friction, noise, and backlash Belt/Cable Drive Placement, performance Complex

The NXT motor

Choosing wheels Large wheels Small wheels High top speed, good clearance, Low torque (acceleration) Small wheels High torque, perhaps better stability Lower top speed