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beam_robotics [2009-01-08 11:54] – davegriffiths | beam_robotics [2009-01-12 10:14] – davegriffiths | ||
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- | ===Biology, Electronics, | + | ======Biology, Electronics, |
- | A design philosophy for robotics, where analogue electronics | + | See also [[Robot Building]], [[Robot Design]] |
- | ===Freeforming, Recycling | + | A design philosophy for robotics, where analogue electronics |
- | Another | + | =====Freeforming, |
+ | |||
+ | 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. | ||
- | ===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== | ||
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+ | {{http:// | ||
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 low pulses for a constant time (set by the values of the capacitor and resistor) when the input changes voltage. | 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 low pulses for a constant time (set by the values of the capacitor and resistor) when the input changes voltage. | ||
+ | |||
+ | {{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===== | ||
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+ | The power coming from a solar cell is pretty tiny. In order to do anything much, especially drive a motor, you need to employ some method for increasing the current from the solar panel. The commonest method in BEAM robotics is to store the energy in a capacitor and use it in bursts. This circuit is called a solar engine. | ||
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+ | {{http:// | ||
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+ | < | ||
===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:// | ||