1. Dance robot as a tool for implementation of micro-programming
Eli Kolberg, PhD
School of Engineering
Bar-Ilan University
Irene Kipnis, MA
Ohel-Shem
High School

2. Robot Control
In a robotics system, a microprocessor or microcontroller implements the digital control
We consider a robotics system as a composition of control and operational units (CU and OU) (Baranov, 1994; Levin et al., 2004)
The operational unit of the robot contains performing building blocks such as motors, sensors, lamps, manipulators, etc
The control unit , e.g. a micro-controller , implements the algorithm of the system’s behavior
A control unit receives information from the operational unit and produces the sequence of control signals that leads to executing desired operations by the operational unit

3. Micro-Programming
Micro-programming design builds a bridge between the standard theories of logic systems (hardware (sometimes called design)) and of sequential programming (software)
The idea behind it is based on the equivalence between a hardware logic system and a software based micro program

4. Micro-Programming
At the mathematical level this equivalence rests on the concept of the algorithm
It is exhibited by means of binary decision tree
Such tree can represent any combinational algorithm
It can be implemented either in hardware (FSM –Finite State Machine) or in equivalent software (ASM – Algorithmic State Machine)

5. Micro-Programming
Let micro-operation be an elementary step of processing in the operational unit of a robotics system
The control unit receives binary signals (world state) arriving form the operational unit
The set of binary signals sent by the control unit to the operational unit is the set of microoperations affecting the OU’s behavior

6. Micro-Programming
The goal of the CU is the generation of a sequence of signals Y, distributed in time
The functioning of the OU is dictated by this sequence
Control design process involves three stages:
The specifications or initial description of the system’s functioning
The translation of this description or specifications into a formal notation or model - like flow chart , etc.
The actual implementation of the controlling system

7. Basic Paradigms
In this model a particular set of constructs were chosen and arranged as follows:

8. Basic Paradigms
Mioducer and Levin (1996) establish the distinction between two basic paradigms: programming (or software oriented) and design (or hardware oriented)
Each paradigm has three levels:
The conceptual approach used for defining control
Its formal model or representational notation
Commonly used implementation means
This framework will be demonstrated using dance robot participated in RoboCupJunior 2008 competition

9. Implementation Isabella and Adam

10. Implementation The robot functions are described here: 1
Straight line navigation driving in forward direction 2
Straight line navigation driving in backward direction 3
Robot line following 4
Pivot on spot right rotation 5
Pivot on spot left rotation 6
Wide angle right turn 7
Wide angle left turn 8
Identifying other robot 9
Driving joint motors to a desired angle 10
Driving joint motors to a desired speed 11
Obstacle avoidance 12
Border line escape 13
Interrupt system for speed and position control

11. Implementation The x inputs (some) are described here: x Description 1
Obstacle proximity detected in front 2 x2
Border line detected by sensor under the robot 3 x3
90 robot turn detected 4 x4
180 robot turn detected 5 x5
Left motor stop detected 6 x6
Right motor stop detected 7 x7
Left motor rotate in medium speed 8 x8
Right motor rotate in medium speed 9 x9
Right motor rotates forward 10
x10
Right motor rotates backwards 11
x11
Left motor rotates forward 12
x12
Left motor rotates backwards 13
x13
Right motor rotates a distance of 100cm 14
x14
Left motor rotates a distance of 100cm

12. Implementation The y micro operations (some) are described here: y
Description 1 y1
Turn on right motor 2 y2
Turn on left motor 3 y3
Rotate forward right motor 4 y4
Rotate forward left motor 5 y5
Rotate backward right motor 6 y6
Rotate backward left motor 7 y7
Stop right motor 8 y8
Stop left motor 9 y9
Rotate right motor at medium speed 10
y10
Rotate left motor at medium speed

13. Implementation The Y micro instructions (some) are described here: Y
y’s
Description 1 Y1
y1,y2,y3,y4,y9,y10
Move robot forward with medium speed 2 Y2
y1,y2,y5,y6,y9,y10
Move robot backward with medium speed 3 Y3
y1,y2,y4,y5,y9,y10
Rotate robot with right pivot turn (CW) with nominal speed 4 Y4
y1,y2,y3,y6,y9,y10
Rotate robot with left pivot turn (CCW) with nominal speed 5 Y5
y2,y4,y7,y10
Rotate robot with right wide pivot turn (CW) around right wheel with medium speed 6 Y6
y1,y3,y8,y9
Rotate robot with left wide pivot turn (CCW) around left wheel with medium speed 7 Y7
y7,y8
Robot stop

14. Implementation
We will present here one of the robot’s control algorithms
It implements functions no. 11&12 in the function table, namely: border line escape and obstacle avoidance
In this case, when the robot encounters a border line, it has to stop, turn 180 degrees and drive forward 100 cm, check obstacle proximity in front of the robot and avoid it

15. ASM of Robot Escape from Border Line and obstacle avoidance

16. FSM of the robot’s escape from border line and obstacle avoidance
Y(am,as)
X(am,as) as am h Y1 1 a2 a1 Y0
x42 2
Y7Y3 a3 3 x4 4
Y7Y1 a4 5
x1x13 6 x1 a5 7 x3 8 a6 9
x13 10
Y7Y4 a7 11 12 13

17. illustration movie

18. We would like to thank you for your time and will be happy to answer any questions you might have