Design and DiscoveryRoboticsWednesday May 10th 2006Education CentreDrumcondra
RoboticsLearning Opportunities Students work independently-project work • What is a robot? • What can a robot be used for? Dangerous environments Inaccessible areas Repetitive boring jobs Play
Future Robotics Developments Artificial Intelligence Can Machines think? Turing Test 1950 Cyborg- part human, part robot Kevin Warwick, University of reading
Robotic Resource http://www.thetech.org/robotics/ http://www.es.northropgrumman.com/remotec http://www.irobot.com/ http://www.robot.org.uk/ http://www.ibotz.com http://www.kevinwarwick.com/ http://www.heanet.ie/services/services.php?serID=115&subID=29 http://marsrover.nasa.gov/home/index.html Play Video now http://citroenpampeana.com.ar/images/picasso.mpg Play Video now http://www.theembassyvfx.com/qt/Citroen_480.mov Play Video now http://robotics.nasa.gov/courses/summer05/main/index.php?crs=june23/2&opt=0 http://video.search.yahoo.com/search/video?p=robomo&fr=FP-tab-vid-t&toggle=1&cop=&ei=UTF-8
Anatomy of the BrainiBorg robot • Software – CD • Programs: (i) move forward – simple code (ii) move backward — simple code (iii) Gait (iv) event (iv) to detect obstacle (vi) light event
BrainiBorg Anatomy • 3 motors-front middle back • left LED , right LED ( emit light ) • Phototransistors ( detect visible and infra red light ) • micro-controller • battery packs • socket for PC • on/off switch • Piezo sounder
Getting Going • Minimum installation • Place CD in drive • Explore the CD • Copy the Bin folder to the desktop • Double click on ibotz icon
Full Installation • Place CD in CD tray • Autorun should start. (If not, Double Click My Computer on desktop, Right Click the CD Rom drive, Click Explore, Click Setup.exe) Click Install, percentage progress bar appears. • Message box: Quadrabotz is now installed. Run Program? Yes No Click Yes • Message box: Run first tutorial activity? Yes No Click Yes When the activity is complete move on the step 5. • Examine Brainiborg (BB): Note battery cases, 3 motors, ON / OFF switch, cable connection port, LED and Infra Red (+ visible light) sensors and Sounder. Fit batteries to Brainiborg • Connect cable to Comms. port on computer and to the earphone jack port (RS 232) on the BB. • To check for connectivity; Click on Options Comms. A message box appears, as follows: • If necessary change the comms port number and try again until you get a successful connection.
Enter or Type Code Sequence Choose Front - Middle – Rear Left – Off – Right Click motor button
Programme Execution 1. Front left leg moves forward
To make the robot move backward Type /Enter in the following code • MOTOR(xLx) • Delay(14) • Motor(LxR) • Delay(14) • Motor(xRx) • Delay(14) • Motor(RxL) • Delay(14)
To make the robot move forward Type/Enter in the following code • Motor(xLx) • Delay(14) • Motor(RxL) • Delay(14) • Motor(xRx) • Delay(14) • Motor(LxR) • Delay(14)
Gait • With a Gait all instructions are included. • To move the robot back, now type in Gait(gRev) • To move the robot forward type in Gait(gFwd) • try Gait(gRight) Gait(gLeft)
The interface also has 6 gait buttons at the bottom. Each press will execute one cycle. • Forward Gait • Backward Gait • Turn-left Gait • Turn-right Gait • Backward Left Gait • Backward Right Gait • As an exercise try a few and notice the code appearing and test.
Event Programming • The Gait forward command instructs the robot to walk forward allthe time, until something in the outside world happens. • This is called an event. • In the main, enter the following code: Gait(gFwd) • Then click Event. In Obstacle Event box, click the Right button and the Event RightObs box appears. Now enter in the following commands as shown below. • Download the program to BB. When BB is moving, place an obstacle in the front right position. Observe BB’s reaction.
Back off from light The robot does nothing until light shines on it and then it reverses. Enter in the following Beep(27) Gait(gRev) Beep(248) Gait(gRev) then test to see what happens
Measure Option Press