RobotCub article on Servo (magazine)

100 Pages·2008·15.5 MB·English

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Let your geek shine.
Meet Leah Buechley, developer of LilyPad—a
sew-able microcontroller—and fellow geek. Leah
used SparkFun products and services while she
developed her LilyPad prototype.
The tools are out there, from LEDs to conductive
thread, tutorials to affordable PCB fabrication,
and of course Leah’s LilyPad. Find the resources
you need to let your geek shine too.
»Sharing Ingenuity
SPARKFUN.COM
©2008 SparkFun Electronics, Inc. All rights reserved.
Full Page.qxd 3/5/2008 4:19 PM Page 3
HHHHiiiitttteeeecccc GGGGooooeeeessss
TTTThhhheeee DDDDiiiissssttttaaaannnncccceeee!!!!
Don’t let your robot take a fall, make sure it can go the distance by using one of Hitec’s high powered robotics servos.
From the spport level HSR-8498HB to the stumppp pppullinggg torqqque of the Titanium ggeared HSR-5990TG,,
HHiitteecc hhaass aa sseerrvvoo fffooorrr yyyooouuurrr rrrooobbboootttiiicccsss ppprroojjeeccttt..
(cid:43)(cid:54)(cid:53)(cid:16)(cid:27)(cid:23)(cid:28)(cid:27)(cid:43)(cid:37) (cid:43)(cid:54)(cid:53)(cid:16)(cid:24)(cid:23)(cid:28)(cid:27)(cid:54)(cid:42) (cid:43)(cid:54)(cid:53)(cid:16)(cid:24)(cid:28)(cid:27)(cid:27)(cid:19)(cid:54)(cid:42) (cid:43)(cid:54)(cid:53)(cid:16)(cid:24)(cid:28)(cid:28)(cid:28)(cid:19)(cid:55)(cid:42) (cid:43)(cid:54)(cid:53)(cid:16)(cid:20)(cid:23)(cid:21)(cid:24)(cid:38)(cid:53)
(cid:43)(cid:76)(cid:74)(cid:75)(cid:3)(cid:55)(cid:82)(cid:85)(cid:84)(cid:88)(cid:72)(cid:3) (cid:43)(cid:76)(cid:74)(cid:75)(cid:3)(cid:55)(cid:82)(cid:85)(cid:84)(cid:88)(cid:72)(cid:3) (cid:38)(cid:38)(cid:82)(cid:82)(cid:85)(cid:85)(cid:72)(cid:72)(cid:79)(cid:79)(cid:72)(cid:72)(cid:86)(cid:86)(cid:86)(cid:86)(cid:3)(cid:48)(cid:48)(cid:72)(cid:72)(cid:74)(cid:74)(cid:68)(cid:3)(cid:55)(cid:82)(cid:85)(cid:84)(cid:88)(cid:72)(cid:3) (cid:38)(cid:38)(cid:38)(cid:82)(cid:82)(cid:85)(cid:85)(cid:72)(cid:72)(cid:79)(cid:79)(cid:72)(cid:72)(cid:86)(cid:86)(cid:86)(cid:86)(cid:86)(cid:3)(cid:48)(cid:48)(cid:72)(cid:72)(cid:74)(cid:74)(cid:68)(cid:3)(cid:55)(cid:82)(cid:85)(cid:84)(cid:88)(cid:72)(cid:3) (cid:49)(cid:82)(cid:81)(cid:3)(cid:51)(cid:85)(cid:82)(cid:83)(cid:82)(cid:85)(cid:87)(cid:76)(cid:82)(cid:81)(cid:68)(cid:79)(cid:3)
(cid:46)(cid:68)(cid:85)(cid:69)(cid:82)(cid:81)(cid:76)(cid:87)(cid:72)(cid:3)(cid:42)(cid:72)(cid:68)(cid:85) (cid:54)(cid:87)(cid:72)(cid:72)(cid:79)(cid:3)(cid:42)(cid:72)(cid:68)(cid:85) (cid:54)(cid:87)(cid:72)(cid:72)(cid:79)(cid:3)(cid:42)(cid:72)(cid:68)(cid:85) (cid:55)(cid:76)(cid:87)(cid:68)(cid:81)(cid:76)(cid:88)(cid:80)(cid:3)(cid:42)(cid:72)(cid:68)(cid:85) (cid:38)(cid:82)(cid:81)(cid:87)(cid:76)(cid:81)(cid:88)(cid:82)(cid:88)(cid:86)(cid:3)(cid:53)(cid:82)(cid:87)(cid:68)(cid:87)(cid:76)(cid:82)(cid:81)
Model Gear Type Torque(oz) Speed(sec) Bearing Dimensions Weight Protocol
6V / 7.4V 6V / 7.4V L” x W” x H” (oz)
HSR-8498HB........Karbonite..........103 / na...........0.20 / na..........Dual BB........1.57 x .78 x 1.45........1.75 ......*HMI/PWN
HSR-5498SG............Steel.............153 / 188.........0.22 / 0.19........Dual BB........1.57 x .78 x 1.45........2.10.......*HMI/PWN
HSR-5980SG............Steel.............333 / 417.........0.17 / 0.14.........Dual BB........1.57 x .78 x 1.45........2.36......*HMI/PWN
HSR-5990TG..........Titanium..........333 / 417.........0.17 / 0.14.........Dual BB........1.57 x .78 x 1.45........2.39......*HMI/PWN
HSR-1425CR.............Nylon..............na / 57..............16 rpm...........Dual BB........1.59 x .77 x 1.44.........1.6............PWM
*HMI Is Hitec’s Multi Protocol Interface which allows the programming of our servos via a PC using the optional
irnotbeorftaiccse skeitr v(Posa rut sNinog. 7th8e2 0H6F) PP-W20M f iiesl dth per ostgarnadmamrde rR (/PCa rptr oNtoo.c 4o4l 4a3n0d) .allows the programming of the JOIN US AT AUnpirvile 2rs5i-t2y7 o, f2 P0h0o8enix Stadium
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TOC May08.qxd 4/9/2008 10:23 PM Page 4
Columns PAGE 73
08 Robytes
by Jeff Eckert
Stimulating Robot Tidbits
10 GeerHead
by David Geer
The Northern Bites RoboCup Team
14 Ask Mr. Roboto
by Dennis Clark
Your Problems Solved Here
68 Different Bits
by Heather Dewey-Hagborg
Artificial Life — Part 2:
Genetic Algorithms: Hello World
73 Twin Tweaks
by Bryce and Evan Woolley
Geekings from France — the POB bot
Departments
84 Robotics Resources
by Gordon McComb
Robot Builder’s Bookshelf Redux 06 Mind/Iron
92 Appetizer 17 Robo-Links
by Robin Lemieux 18 New Products
Building Character through ... Robot Building!
80 Robotics Showcase
94 Then and Now by Tom Carroll 82 Events Calendar
Robot Muscles — Electric Motors 89 SERVO Webstore
97 Advertiser’s Index
This Month In
THE COMBAT ZONE ...
Features
20
Vapor Bot Build
Events
22
Results and Upcoming Competitions
23
EVENT REPORT: WAR in Seattle
Robot Profile
25
Sewer Snake
PAGE 10
4
SERVO 05.2008
TOC May08.qxd 4/9/2008 2:59 PM Page 5
05.2008
VOL. 6 NO. 5
Features & Projects
PAGE 28
28 Tear Down: The iRobot Looj
by Bryan Bergeron
Get inside the latest offering from iRobot
and explore its potential as a robotics
platform.
32 The Servo Buddy
by Jim Stewart
An introduction to servo motor
construction and operation, and a
description of an inexpensive circuit to
control a servo without a microcontroller.
36 Designing and Building a
Robot From Scratch PAGE 36
by Brian Benson
Part 3 covers common tools and
techniques that will make the actual build
process easier.
42 The R2 Builders Club
by K. Stiles Howard
In a galaxy right here at home, a unique
community of roboteers build R2-D2
replicas not just for fun, but for very
worthy causes.
50 Managing Your Mobile
Monkey
by Fred Eady
Discover how to add 2GB of direct
access storage to your robot with just a
PIC and a micro-SD memory card.
58 Reviving an Androbot BOB
by Robert Doerr
Extra sensors, original sensors, wireless
operation, autonomy, and programming
... whew!
SERVO Magazine (ISSN 1546-0592/CDN Pub Agree#40702530) is published
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5
SERVO 05.2008
Mind-Iron May08.qxd 4/9/2008 12:54 PM Page 6
Published Monthly By
T & L Publications,Inc.
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by Bryan Bergeron,Editor (cid:140)
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PUBLISHER
Tough Enough of the environment and still be Larry Lemieux
[email protected]
capable of carrying out a military
Although not always labeled as mission. Fortunately, as with many ASSOCIATE PUBLISHER/
such, a lot of the articles featured in military advances in robotics, VP OF SALES/MARKETING
SERVO address the issue of fragility. methods of hardening have Robin Lemieux
[email protected]
For one robot to battle another percolated through to the consumer
head-on, or to compete in an arena market. EDITOR
where jarring contact is inevitable, it The iRobot Looj (torn down Bryan Bergeron
[email protected]
must be hardened against both the in this issue) illustrates how an
environment and attack from inexpensive consumer robot can be
CONTRIBUTING EDITORS
opposing robots. Weapon-wielding useful by virtue of its ability to Jeff Eckert Tom Carroll
battle bots are the best example of perform in a hostile environment. Gordon McComb David Geer
Dennis Clark R.StevenRainwater
the advantage of being tougher than The Looj features water-tight seams,
Fred Eady Kevin Berry
the competition and, to a lesser structural integrity that allows it to Brian Benson Robert Doerr
extent, the environment. However, if survive a fall from a dozen feet onto Kate Howard Jim Stewart
you take a champion battle bot out a grassy surface, and power that Charles Guan Rob Farrow
Bryce Woolley Evan Woolley
of a clean arena and run it outside in approaches that of a battle bot. Even
Heather Dewey-Hagborg
the rain, the water will likely destroy so, it’s light enough to be clipped to
the electronics and mud clog the a utility belt. CIRCULATION DIRECTOR
drive mechanism long before the The typical environmental Tracy Kerley
[email protected]
opposing battle bot has a chance to challenges faced by designers of
land a blow. service robots can be just as MARKETING COORDINATOR
I’m not suggesting that the threatening as a rain gutter. WEBSTORE
Brian Kirkpatrick
robotics community should focus on Prototype robots designed to rescue
[email protected]
creating Terminator robots. However, soldiers from the battlefield must be
if we’re going to create truly useful able to handle a significant, WEB CONTENT
service robots that can cook, clean, unbalanced load while remaining Michael Kaudze
[email protected]
carry, and look after us in our old impervious to mud and debris.
age, then we need to move past Similarly, assistant robots for home PRODUCTION/GRAPHICS
fragile robots to more sturdy designs. and hospital use must be able to Shannon Lemieux
Most of my robots — whether from operate when contaminated with Joe Keungmanivong
a kit or designed from scratch — body fluids and, more significantly,
ADMINISTRATIVE ASSISTANT
couldn’t survive a fall from a tabletop withstand the rigors of Debbie Stauffacher
or an accidental dowsing with a cup decontamination. Unlike a surgical
Copyright 2008 by
of coffee. My relationship with these instrument that can be autoclaved,
T & L Publications,Inc.
robots is as their caretaker. I can’t nurse proxy robots must be able to All Rights Reserved
yet imagine being taken care of by withstand frequent spray-downs with All advertising is subject to publisher’s approval.
a robot. antiseptics. We are not responsible for mistakes,misprints,
or typographical errors. SERVO Magazine
Hardening a robot against the As illustrated by the prototypes
assumes no responsibility for the availability or
environment and other robots or of service robots used to retrieve condition of advertised items or for the honesty
even ill-meaning humans is no mean wounded soldiers from the battlefield of the advertiser.The publisher makes no claims
task. Companies like iRobot spend or to help patients in and out of bed, for the legality of any item advertised in SERVO.
This is the sole responsibility of the advertiser.
millions on R&D to harden their service robots must have sufficient
Advertisers and their agencies agree to
robots against the heat and humidity environmental resistance while posing indemnify and protect the publisher from any
and all claims, action, or expense arising from
advertising placed in SERVO. Please send all
editorial correspondence, UPS, overnight mail,
Mind/Iron Continued
and artwork to: 430 Princeland Court,
6 Corona,CA 92879.
SERVO 05.2008
Mind-Iron May08.qxd 4/9/2008 2:24 PM Page 7
Robot Psychologist:
minimal threat to humans. A robot capable of
A New Era in Mental Health Services
scooping up a soldier from a field like a forklift poses
obvious threats to the downed soldier. Without
Two clinical psychologists associated with the Institute for Eclectic
considerable thought to scooping mechanism design,
Psychology in Holland (Jaap Hollander and Jeffrey Wijnberg) have
the scoops could further injure the soldier. developed the first robot psychologist, named “MindMentor.”
Similarly, an elderly patient could be bruised or MindMentor is an online computer program that helps people solve
seriously harmed by either a hard exoskeleton or problems and achieve goals. It has the unique quality (as compared
exposed rotating parts. Some designers have with other online psychological help systems) of requiring no live
human intervention and being completely automated. Said Hollander in
addressed the issue of potential human injury by
a recent interview: “What made this whole endeavor exciting was that
encasing their creations in a thick skin of foam.
we suddenly saw a possibility to create an unlimited amount of
However, doing so introduces issues of reduced
psychological help.”
cooling efficiency, increased bulk, increased Some psychologists have responded positively to their robot
resistance to movement, and additional challenges of colleague. Said David Van Nuys, Ph.D. (Emeritus Professor of
disinfecting the surface. Psychology Sonoma State University): “At the end of the hour-long
session, I have to say my outlook and spirits were lifted considerably.
So, as you work to advance the state of robotics
It was smart, supportive, fun, and funny, and helped me to focus in
through higher-order AI functions such as navigation
on the central issue. I find the blend of artificial intelligence, NLP, and
and auto-calibration of sensors, it’s critical not to lose
other goal-directed therapeutic techniques effective.”
sight of environmental threats. If your goal is to How effective is the robot psychologist? Hollander, interviewed
develop robots that physically interact with humans, by a Dutch radio program, explained: “We did some research into the
consider how you would harden the robot against effectiveness of this system in 2006. We had a much more primitive
the environment while presenting an interface that version then, and with that we performed a test-run with 1,600
clients from all over the world. Our data show that MindMentor was
won’t tear or bruise fragile skin and muscles.
able to solve the problems for 47% in just one session. When people
If you think about it, human anatomy presents a
were asked afterwards to what extent they had solved the problem
perfect archetype for a service robot — a tough, with the help of the robot psychologist, 100% meaning totally solved
weight bearing, and protective endoskeleton encased and 0% meaning absolutely no change, the average result was 47%.
in a soft, protective skin that can interface with We believe that this is a success percentage that any real-life
humans without causing them harm. Perhaps the psychologist would be satisfied with, especially given the fact that
Terminator model isn’t far off after all. SV this was after just one session.”
Check out MindMentor for yourself at www.mindmentor.com.
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Robytes.qxd 4/3/2008 4:08 PM Page 8
Robytes
by Jeff Eckert
Chatty Cathy Reincarnated learning phrases like “robot puts stick speed automated screening robots to
on cube.” Prof. Dautenhahn noted, analyze suspected toxic compounds
“iCub will take us a “using cells and isolated molecular
stage forward in devel- targets instead of laboratory animals.
oping robots as social This new, transagency collaboration
companions. We have is anticipated to generate data more
studied issues such as relevant to humans; expand the num-
how robots should ber of chemicals that are tested; and
look and how close reduce the time, money, and number
people will want them of animals involved in testing.”
to approach and now, Full implementation is probably
within a year, we will years away, so you won’t run into
have the first humanoid many lab rats in the unemployment
robot capable to devel- line any time soon. But when the
oping language skills.” proper procedures have been validated
The next challenge will and put in place, it should be possible
be to make it shut up to test thousands to hundreds of
Classic Chatty Cathy (photo courtesy of www. and go to bed. thousands of chemicals per day to
joyndolls.com) vs.iCub (photo courtesy of RobotCub). assess their possible toxic effects.
More info is available from the
The concept of a mechanical Robots to Replace Animals National Human Genome Research
talking adolescent isn’t exactly new, Institute (www.genome.gov).
with the terminally cute Chatty Cathy A new chemical safety test
dating back to 1960. But while Cathy program was recently announced
— at her peak —could only speak 18 by the National Institutes of Health Automated Octopus Balls
phrases, the iCub, designed by the (NIH, www.nih.gov) and the
RobotCub Consortium (www.robot Environmental Protection Agency Proving again that industrial
cub.org), may soon be generating (EPA, www.epa.gov). It aims to robots can be programmed for more
complex conversations on its own. employ robots to reduce researchers’ creative activities than welding
An international group, led by reliance on animal testing and automobile fenders, a recent exhibition
the University of Plymouth (www.ply improve the overall process. The at the Osaka Museum of Creative
mouth.ac.uk), began its Integration collaborative effort will use the NIH Industries revealed a Toyo Riki (www.
and Transfer of Action and Language Chemical Genomics Center’s high- toyoriki.co.jp) robot that was set up
Knowledge in Robots (ITALK)
program on March 1. ITALK seeks to
teach iCub to speak by employing the
same methods parents use on their
children (presumably skipping over
“goo goo” and “dah dah”). The
training will include “experiments
in human and robot language
interaction to enable the robot to
converse with humans.”
According to Profs. Chrystopher
Nehaniv and Kerstin Dautenhahn of
the University of Hertfordshire,
typical experiments will include such
activities as inserting variously shaped
objects into corresponding holes,
stacking wooden blocks, and aligning
cups. iCub will then be asked to This robot from Switzerland’s Stäubli Group is part of an
name the objects and actions, thus NIH/EPA program to improve toxicity testing.
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Robytes.qxd 4/3/2008 4:09 PM Page 9
Robytes
dreams and programming a
robotto reenact them. The
disappointing thing is that, of
course, it doesn’t actually do
that. But it does log a sleeping
subject’s eye position and
translates that into the bot’s
head movement; if your eyes
move to the left, so does the
robot head, and so on. It also
uses brainwave activity as detect-
ed by an EEG readout, assigning
preprogrammed behaviors to
a set of recognized brainwave
Photo courtesy of R.Terrill. patterns. Sleep Waking is meant
to be viewed primarily as a
ability to address undesirable visitors metaphorical vision of the future, so
in an authoritative voice. You can see it is pretty much art for art’s sake. The
A robotic chef prepares a seafood
treat.Photo courtesy of Oriental him in action at www.youtube.com/ robot’s movements have even been set
Physical Machine Industry Co.,Ltd. watch?v=y4mRJY6NEwI. to music by San Francisco’s spaced-out
According to Beacon operator Ade Lun Sec (www.adelunsec.net).
to grill octopus balls (insert your own Lydia Meredith, the whole square is However, the creators managed to
joke here). The exact ingredients were “enveloped with homeless people and get partial funding from Union College
not revealed, but the bot does follow drug dealers, defecating, urinating, and the Albany Regional Sleep
“a strict recipe for making the delicacy, prostituting — the whole nine yards.” Disorder Center, so someone
crafting each octopus ball individually And a nearby playground is habitually apparently believes that it has some
from scratch.” It also flips each piece littered with used syringes and practical potential. You can view a
while it’s grilling, then sticks it on a condoms. While most of the locals performance at www.youtube.com
bamboo skewer, puts it on a plate, have nothing but praise for Bum Bot, /v/1RkM1Bt2b3k&amp. SV
dribbles some sauce on it and, finally, a representative of the Atlanta police
shakes on some spices. Soon to be has warned Terrill that he “would be
available at Long John Tentacle’s. committing an assault if he intention-
ally sprays water on someone when
in control of the robot.” As they say,
Bot Bugs Bums you just can’t please everyone. But if
you’re in town, say “hi” to the Bummer
On a different level of the and try O’Terrill’s award-winning fish
comestibles business is “Bum Bot,” and chips. At only $11.99 for a 10-oz
created to drive trespassers away haddock filet, hand-cut chips, and
from a section of Atlanta that includes homemade slaw, you won’t get
O’Terrill’s Irish pub (www.oterrills.com) hosed — at least while you’re inside.
and the Beacon of Light Daycare
Center. Pub owner Rufus Terrill created
the mechanism from a three-wheeled Automaton of Your Dreams
scooter and a barbecue smoker,
equipping him with a spotlight, IR Fernando Orellana and Brendan
camera, PA system, and water cannon, Burns, a Ph.D. roboticist, have created
the latter of which is capable of hos- “Sleep Waking” (that’s Waking, not
ing down urban outdoorsmen from a Walking), as an experiment in linking Brainwave-inspired robot in
flying stance.Photo courtesy of
distance of 20 ft. The 400-lb Bum Bot REM sleep to robot behaviors. The
fernandoorellana.com.
is operated by remote control, and a interesting thing is that it was inspired
walkie-talkie provides him with the by the concept of tapping into your
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by David Geer
Contact the author at [email protected]
The Northern Bites
RoboCup Team
RoboCup was born to call attention to artificial intelligence and intelligent robot
research, according to RoboCup.org. The subsequent contests and competitions challenge
roboticists from various colleges and universities around the world to build the best
AI robots and prove their achievements by winning all-robot soccer meets.
Playing soccer (football outside control. In 2007, teams of hacked come from Bowdoin College.
the US) requires robots to Sony Aibo robot dogs competed in The Northern Bites team uses
demonstrate many of the the Four-Legged League of RoboCup “SVN” as their version control
emerging technological capabilities for the championship prize. The software, and “Trac” as their overall
that AI must rely on. According to overall winner was the Northern Bites project manager, according to
RoboCup.org, these include team- team from Bowdoin College. Professor Chown. While the Northern
work, certain real-time intellectual Bites programmers could also
properties, and advanced motion The Northern Bites have used existing development
environments like Tekotsu, they
Parents weekend at Bowdoin College; The Northern Bites team decided to write the rest of their tools
families gathered to watch a uses a total of 12 ERS-7 Aibos, and software for the Aibos from
Northern Bites Soccer match.
including four from each of the scratch. “We’re computer scientists!
models a, b, and c, according to We can write our own tools. Now,
Professor Eric Chown, the team we have a whole suite of tools (that
advisor at Bowdoin College. we are currently integrating into one
While the RoboCup rules system called ‘the tool’),” says Chown.
strictly prohibit physical modifica- While the Northern Bites team
tions to the robots, the Aibo’s and competing RoboCup teams use
necks are not strong enough for Aibos as they come — with their own
the soccer competitions. When a operating system software — this has
German team discovered a way been an obstacle rather than an aid.
to make the necks tougher and Sony created the Aibos as toys and
more resilient, RoboCup decided with limited functionality, not as
to permit all teams to make the full-on Soccer athletes. Each team has
same physical improvements in had to adapt the existing software by
the robots. adding code and other programming
Except for these minor to make them Soccer-ready.
physical adjustments, each team’s
main objective is to program the Fetching Aibo’s
robots so they can play soccer. Memory Stick is
The best programming for the
Tedious
task should naturally lead a team
to become the ultimate champs in
the Soccer competition. In 2007, One of the limitations of the Aibo
the best programming would software involves the robot’s physical
10
SERVO 05.2008