<-- ROBI - Robots
of Organized Biological Intelligence -->
Last worked
on: 12/15/06-04/24/07 Version:
Way to many.5
Runs on: 10.4V AA NiMh pack (8 AA 2500mAh NiMH)
Description: ROBI (Ro-Beye) is a term used to describe a co-operative
autonmous family of robots. These robots include Robi (Ro-bee), the
parent, and Remi and Multi, the two children. The robots are modeled
after real bological behaviors that are close in nature to a family
of ducks. The robots must communicate to each other, see and be aware
of each other, and their environment while interactting intelligently
through these channels in meaningful ways to acheive a lifelike interaction
between parent-child, child-parent, animal-environment, and prey-predator(me).
Introduction
The purpose of this project is to created
several cooperative autonomous robots that simulate biological behavior.
I will create one parent-type robot that is physically larger and
has more sophisticated hardware and software. I will create two child-type
robots that are physically smaller than the parent and only have basic
obstacle avoidance hardware and software. In addition, each robot
will be able to talk (RF links) and see (IR Beacons of my own design).
The robots should simulate biological behavior close to that of a
family of ducks.
ROBI isn’t just about the novelty of a robot family
or making robots act like cute ducks. I designed ROBI as a research
platform based on the following observation:
" Human intelligence didn’t develop, nor did humans
progress, until the invention of a common spoken language. As language
has developed so has our universal intelligence. "
Being able to communicate and being aware of oneself and others is
the only way that robots will ever be truly intelligent. Machines
of all designs and abilities that can communicate and work together;
that is why this isn’t just about ducks. This is a research
platform to investigate how intelligence developes from communication
and awareness.
Mobile Platform and Electronics
Mobile Platform:
1)
TJ/Rugwarrior inspired body designed in AutoCAD [Download]
2)
Bumper made from circle of wood cut into front, back, and two left/right
wing sections
-Each section has lever bump switches which rotate on an axis [Diagram]
3)
Two Hacked Hitec HS-81 Servos
4)
Omni-Directional Caster Wheel (Tamiya 70144) from www.pololu.com
-The
caster is extended using 3" threaded rods and nuts (See side-view
picture)
5)
Note: The top is attached to the bottom with screws on each side of
the saucer (See side-view)
The
bottom carriage is glued with wood glude EXCEPT for the back which
allows the battery
to
be removed. If it is too loose, line the contacts with a bit of glue
for a tighter fit.
Electronics:
1)
Maveric IIB Atmega128 Board (Parent) / Atmega128 Headerboard (Child,
see report for fix)
2)
Custom IS471F Proximity Detector with 2 Pulsed IR LEDs [Schematic]
3)
LCD 4bit 2x16 (For parent only)
4)
Custom Sight Sensor using IR 56kHz Detector, two IR LED eyes, 555
timer, and Digital Pot
[Schematic]
5)
RF Link, serial, 315Mhz, 4800bps from www.sparkfun.com
6)
8xAA NiMh 2500mAh (~11V to be far enough away from the drop out voltage
of the regulators)
Behavioral Model
The behavior of the robots should be cooperative
and biological in nature. Cooperative in that they must use sight
and sound to interact with each other in a defined way with defined
roles. Biological in that they will be limited in functionality to
what is reasonable of an animal (namely a duck). For example, this
means that sound travels only a certain distance and doesn’t
need to have line of sight; however, sight must be sort range and
should be limited to direct line of sight. The parent should also
be able to care for its children is various ways such as: protection
from predators, leadership, and nourishment.
The children should start off by following
the parent. The parent should look for a safe area to let the children
wander and play together. At this point, the parent should keep track
of its children and guard them from predators. The children will be
allowed to roam a certain radial distance away from the parent. The
parent will consider any human within a certain radial distance as
a predator. If the children are too far away or a predator is located
then the parent should guide them appropriately. If time permits,
the parent should recognize when too feed itself and the children
and then lead them to the recharge station.
Goals
The project goals will be accomplished in
the following order. All of the hardware as been extensively designed
and tested. I am especially pleased with the precision of my custom
sight sensor. I have already accomplished some goals; although not
completely satisfactorialy. With the right code, I should be able
to accomplish all goals with in the coming moths; I hope by the end
of summer 07. Also, I'd love to get my circuit boards sent out and
made professionaly but with as many times as I've had to re-wire them;
I might need to wait a few more months.
The
parent should:
1)
Lead the children to a safe area
2)
Signal children when it’s okay to wander
3)
Scold children if they wander too far away
4)
Protect children from any human presence
*5)
Reform a line and lead children to food if anyone is hungry
The
children should:
1)
Follow each other or the parent
--In
single file if time permits
2)
Wander aimlessly (light and sound dependant)
3)
Listen to parents scolding for getting too far away by re-uniting
with parent
4)
Tell parent when they are hungry.
*5)
Form some sort of interaction with other children. Self and sibling
aware;
hopefully to form a sort of swam-style emergent behavior.
*6)
Reform a line and follow parent to food if anyone is hungry.
( * ) Mark goals that are only if
time permits.
More To Come
More is planned including sections
for solutions and schematics to problems encountered as well as arranging
photos and movie demos in a chronological order to show progression.
For now the Robot and Sensor Report are great places to learn
how I did things, how they work, and even what I would do differently.
![[Diagram]](Bump%20Sensor1.jpg){kind=link}
![[Schematic]](IS471F%20Hookup%20Mod.jpg){kind=link}
![[Schematic]](Special%20Sensor.JPG){kind=link}