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beam_robotics [2009-01-08 11:54] – created davegriffiths | beam_robotics [2009-01-09 11:14] – davegriffiths | ||
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===Biology, Electronics, | ===Biology, Electronics, | ||
- | A design philosophy for robotics, where analogue electronics and reactive sensor control is preferred over digital electronics via a microcontroller and the use of planning AI. | + | See also [[Robot Building]], [[Robot Design]] and [[Category Robotics]]. |
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+ | A design philosophy for robotics, where analogue electronics and reactive sensor control is preferred over digital electronics via a microcontroller and the use of planning AI. BEAM is the invention of robotics physicist [[http:// | ||
===Freeforming, | ===Freeforming, | ||
- | Another | + | A key element of BEAM is the use of ' |
These design restrictions result in some beautifully simple and effective machines. | These design restrictions result in some beautifully simple and effective machines. | ||
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===BEAM Nervous Networks=== | ===BEAM Nervous Networks=== | ||
- | The control mechanism of a BEAM robot is a set of analogue circuits which are broadly biologically inspired, and can be connected together to provide fixed control signals (for tasks such as moving a multi-legged walker) or have sensors integrated into them to provide a link to the outside world. | + | The control mechanism of a BEAM robot is a set of analogue circuits which are broadly biologically inspired, and can be connected together to provide fixed control signals (for tasks such as moving a multi-legged walker) or have sensors integrated into them to provide a link to the outside world. There is a distinctive language developed for the construction of these circuits, which I'll attempt to explain a bit of below. |
==Nv Neuron== | ==Nv Neuron== | ||
- | One of the simplest BEAM components is the nv neuron, which consists of a capacitor, resistor and inverter arranged so they form a 1st order high pass filter with it's output inverted. In BEAM robotics, circuits are considered active when the output is low - this circuit will output pulses for a constant time (set by the values of the capacitor and resistor) when the input changes voltage. | + | {{http:// |
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+ | One of the simplest BEAM components is the nv neuron, which consists of a capacitor, resistor and inverter arranged so they form a 1st order high pass filter with it's output inverted. In BEAM robotics, circuits are considered active when the output is low - this circuit will output | ||
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+ | {{http:// | ||
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+ | An Nv neuron in the breadboard with a large capacitor, to make the pulse easier for a human to see. The inverter is provided by the 7404 hex inverter, which contains 6 logical NOT gates that we subvert for non-digital means. | ||
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+ | {{http:// | ||
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+ | Schematic of the 7404 | ||
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+ | ==Nv Neuron Array/ | ||
Nv neurons can be stacked together in arrays, where signals will be propagated slowly along them. | Nv neurons can be stacked together in arrays, where signals will be propagated slowly along them. | ||
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+ | {{http:// | ||
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+ | With a simple modification, | ||
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+ | {{http:// | ||
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+ | {{http:// | ||
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+ | These bicores are the workhorses of BEAM robot brains, and are used to provide oscillating signals which can be controlled from other Nv neurons, or directly from sensor input. | ||
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+ | ==Suspended Bicore== | ||
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+ | With some modifications, | ||
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+ | {{http:// | ||
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+ | {{http:// | ||
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+ | By playing with the values of the components, different oscillation patterns can be made. | ||
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+ | ===Solar Engines=== | ||
===BEAM types=== | ===BEAM types=== | ||
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===Links=== | ===Links=== | ||
+ | Mark Tilden' | ||
+ | Some more example robots: [[http:// | ||
+ | For more detail, go to the BEAM wiki: [[http:// | ||
+ | Solarbotics is the BEAM community server: [[http:// | ||
+ | The BEAM web ring: [[http:// | ||