How to make a Robot Walk

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1、HowtomakeaRobotWalkThisinformationhasbeenadaptedfromanexcellentsitebyAMiller.IntroductionThissectiondescribeshowtomakeawalkingrobot.ThesimplestrobotsarecalledBEAMROBOTS.AndthesimplestwalkersarecalledBEAMWALKERS.Theyconsistofjustenoughcircuitryandmechanicst

2、ocarryouttheintendedfunction,andinthiscaseitistheoperationofwalking.ThesimplestcircuittogetarobottocarryoutthewalkingfunctionhasbeendesignedandpatentedbyoneoftheearliestdevelopersofRobots,MarkW.Tilden.HegavethenameMicroCoretothetypeofcircuitthatdrivesthese

3、basicdesigns.TheconceptoftheMicroCoreisprettyclever.Usingjustahandfulofcomponents,youcanbuildthecontrolcircuitryforawalkingrobotthatsensesitsenvironmentandadjustsitsgaitaccordingly.Thecleverpartisthecircuitissosimple!AMicroCoreconsistsofacapacitor,agate,an

4、daresistor.Thisiscalleda'neuron.'Eachneuronhasaninputandanoutput.Thecomponentsareconnectedsothatthecapacitorandresistorformadelaycircuit.IfwemaketheinputHIGH,theoutputtakeashorttimetoreact.Mouse-overtheanimationbelowtoseehowtheNeuroncircuitworks.Thegateisa

5、ctuallyaninverteranditalsohastheabilitytostrengthenthepulse.IfweconnecttheoutputofoneneurontotheinputofanotherandtaketheoutputofthesecondtotheinputofthefirstwehaveacompleteloopandwehavecreatedaBiCore.Acircuitcanconsistofasmanygates(inverters)asyouwant,hook

6、ed-upnosetotail.Every'neuron'ofaMicroCoreconsistsofacapacitor,agate,andaresistor.Acircuitcontaininganumberof'neurons'willproduceamazingthings.Thisiswhatthisdiscussionisallabout.IfyouhaveaBiCorecontrollingtwowheels,andwanttherobottoturnright,youhavetomaketh

7、emotorontheleftrunforlonger-simplychangetheresistanceforthatneuron.Ifyouincorporate2photodiodesintotheMicroCore,youcanmakearobotalwayszigzagitswaytowardslight!Thisisreallyimpressiveanddemonstrateshowsimple"complexbehaviour"reallyis.Inthisdiscussionwearegoi

8、ngtoexplaintheoperationofthe...MicroCoreTheMicroCorecircuitcanbelikenedtoanervouscircuitinthatitgiveslifeandrealismtoaroboticshape.TheMicroCorecircuitisabasiccircuitusedinthemajorityofBEAMBiomorphicwalkers.To