Exploring Analog Robotics and Nonlinear Behavior in Chaotic Robotics Study
Dive into the world of analog robotics and nonlinear behavior with a study on chaotic robotics by Callie Branyan. The research aims to develop an analog circuit showcasing nonlinear behavior for enhanced performance over digital counterparts and creating more resilient robots for autonomous exploration. Analogy circuitry offers instinctual responses, bridging the gap between basic problem-solving in explorative vehicles and adaptability in robots. Discover the nuances between analog and digital circuitry, explore nonlinear circuits, and delve into the innovative future of adaptable robots in complex environments.
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Presentation Transcript
Chaotic Robotics A Study of Analog Robots and their Nonlinear Behavior Callie Branyan Mechanical Engineering Arizona Space Grant Symposium April 18, 2015 Tempe, Arizona
Purpose Develop an analog circuit that displays nonlinear behavior in order to analyze its ability to out perform it s digital counterpart Develop more robust robots for autonomous exploration
Relevance Explorative vehicles are still struggling with basic problem solving Robots should be adaptable Analogy circuitry provides a certain level of instinctual responses
Background: Analog vs Digital Analog Use of simple components to create complex behavior No programming Allows for levels between high and low Dimmer vs. Light switch Digital Usually the use of a microcontroller Machine language structure Rigid high and low levels
Background: Nonlinear Circuits Neuron Core The Microcore Nervous Net Interfaces with Sensors and servos Circuit Diagram of Basic Microcore Input from Sensors Output to Servos Nervous Net Neuron Core
The Circuit Photo taken of Prototype Circuit
The Circuit Microcore Walking Loop Components Photo taken of Prototype Circuit
The Circuit Antenna Touch Sensor Antenna Touch Sensor Infrared Sensors Nervous Net Photo taken of Prototype Circuit
The Robot Photos taken of prototype Prototype 1
Expected Results Robot is adaptable to complex environments Develops a form of decision making and behavior Timing Diagram for Pulse Modulation from Neuron Core Tilden Patent
Future Work Test robot s decision making Build a model to determine decision making points using Chaos Theory Horse and Rider Configuration "Robots Now Have an Arduino Shield." Embedded Projects from around the Web. 30 July 2012. Web. 4 Apr. 2015. <http://www.embedds.com/robots-now-have-an-arduino-shield/>.
References Hasslacher, Brosl, and Mark Tilden. "Living Machines." Robotics and Autonomous Systems15 (1995): 143-69. Print. Kuhns, Marcos. "Chaos at the Core of Intelligence." Analog Robotics. Web. 2 Dec. 2014. Rigter, Wilf. "The Servocore 2-motor Walker Circuit." BEAM Robotics. 17 Dec. 2003. Web. Tilden, Mark W. Adaptive Robotic Nervous Systems and Control Circuits Therefor. Patent 5,325,031. 28 June 1994. Print.
Acknowledgements Special Thanks to Peter Smith, PhD: Lunar and Planetary Laboratory Arizona Space Grant Consortium Susan Brew: Manager Arizona Space Grant Consortium and University of Arizona Programs NASA
