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In building robots it s important to separate the reality from the fantasy. Fantasy is a Star Wars R2-D2 robot projecting a hologram of a beautiful princess. Reality is a home-brew robot that scares the dog as it rolls down the hallway and probably hits the walls as it goes. Fantasy is a giant killer robot that walks on two legs and shoots a death ray from a visor in its head. Reality is foot-tall trash can robot that pours your houseguests a Diet Coke. Okay, so it spills a little every now and then . . . now you know why a robot equipped with a vacuum cleaner comes in handy! It s easy to get caught up in the romance of designing and building a robot. But it s important to be wary of impossible plans. Don t attempt to give your robot features and capabilities that are beyond your technical expertise, budget, or both (and let s not also forget the limits of modern science). In attempting to do so, you run the risk of becoming frustrated with your inability to make the contraption work, and you miss out on an otherwise rewarding endeavor. When designing your automaton, you may find it helpful to put the notes away and let them gel in your brain for a week. Quite often, when you review your original design, you will realize that some of the features and capabilities are mere wishful thinking and beyond the scope of your time, finances, or skills. Make it a point to refine, alter, and adjust the design of the robot before, and even during, construction.

The self-aligning feature of the floating bearing lets the motor bearing support the shaft after installation The pinion and floating bearing help to seal the unit during its operation The pinion rests in a blind hole and seals the rear of the gearhead This seal keeps out dirt while retaining the lubricants within the housing Consequently, light grease and semifluid lubricants can replace heavy grease..

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A current trend in the field of robot building is behavior-based robotics, where you program a robot to act in some predictable way based on both internal programming and external input. For example, if the battery of your robot becomes weak, it can be programmed with a find energy behavior that will signal the robot to return to its battery charger. Behaviors are a convenient way to describe the core functionality of robots a kind of component architecture to define what a robot will do given a certain set of conditions. The concept of behavior-based robotics has been around since the 1980s and was developed as a way to simplify the brain-numbing computational requirements of artificial intelligence systems popular at the time. Behavior-based robotics is a favorite at the Massachusetts Institute of Technology, and Professor Rodney Brooks, a renowned leader in the field of robot intelligence, is one of its major proponents. Since the introduction of behavior-based robotics, the idea has been discussed in countless books, papers, and magazine articles, and has even found its way into commercial products. The LEGO Mindstorms robot, which is based on original work done at MIT, uses

Fig. 7-3.

behavior principles. See Appendix A, Further Reading, for books that contain useful information on behavior-based robotics.

Since the introduction of behavior-based robotics, numerous writers have applied the term behavior to cover a wide variety of things to the point that everything a robot does becomes a behavior. The result is that robot builders can become convinced their creations are really exhibiting human- or animal-like reactions, when all they are doing is carrying out basic instructions from a computer or simple electronic circuit. Delusions aside, this has the larger effect of distracting you from focusing on other useful approaches for dealing with robots. To help explain how this is a problem, consider this analogy: suppose you see a magic show so many times that you end up believing the disappearing lady is really gone. Not so. It s an optical and psychological trick every time. Sometimes a robot displays a simple action as the result of rudimentary programming, and by calling everything it does a behavior we lose a clearer view of how the machine is really operating. The following sections contain a brief discourse on behavior-based robotics.

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