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Many analog inputs provide on and off signals but not at a voltage high enough to be useful to the control electronics of your robot. In these instances you must amplify the signal, which can be done by using a transistor or an operational amplifier. The op-amp method (Fig. 14-18) is the easiest in most cases, and while the LM741 is probably the most referenced op-amp, you should look around for different devices that have simpler power input requirements (i.e., a single 5 V, which matches the power requirements of your robot s controller).
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Once you turn to the next page, you will be immersed in a great sea of information. I have tried to make it all as simple as possible and, hopefully, no simpler.
The control electronics of your robot may load down the input sources that you use. This is usually caused by a low impedance on the input of the control electronics. When this happens, the electrical characteristics of the sources change, and erratic results can occur. By buffering the input you can control the amount of loading and reduce or eliminate any unwanted side effects. The op-amp circuit, as shown in Fig. 14-19, is a common way of providing highimpedance buffering for inputs to control electronics. R1 sets the input impedance. Note
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when crossing streams or difficult terrain. They stand on three legs while the forth leg is moved around until it finds, by feel, a suitable place to set down. These examples demonstrate that four-legged walkers can have geometries that are either dynamically or statically stable or both. Animals have highly developed sensors, a highly evolved brain, and fantastically high power-density muscles, that allow this variety of motion control. Practical walking robots, because of the limitations of sensors, processors, and fast acting powerful actuators, usually end up being statically stable with two to eight legs. The design of dynamically-stable, walking mobile robots requires an extensive knowledge of fairly complicated sensors, balance, high-level math, fast-acting actuators, kinematics, and dynamics. This is all beyond the scope of this book. The rest of this chapter will focus on the second major category, statically-stable walkers.
Ra Op Amp Gain = (1 + Rb / Ra)
that there are no resistors wired to the op-amp s feedback circuitry, as in Fig. 14-18. In this case, the op-amp is being used in unity gain mode, which does not amplify the signal.
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If you nd the information too simple, keep going; it gets more complicated later. If you nd the information confusing and di cult, remember this. A complex thing is just a collection of simple things working together. Learning how to build a robot is like eating an elephant, you have to ingest it one small piece at a time. The rst few chapters provide a ood of new terms and their de nitions. You don t have to memorize them! Feel free to refer back to the chapter as you need.
There are many other ways to use op-amps for input signal conditioning, and they are too numerous to mention here. A good source for simple, understandable circuits is the Engineer s Mini-Notebook: Op-Amp IC Circuits, by Forrest M. Mims III, available through Radio Shack. No robotics lab (or electronics lab, for that matter) should be without Forrest s books.
First, let s look and leg geometries and actuation methods. There are three major techniques for moving legs on a mobile robot. Linear actuators (hydraulic, pneumatic, or electric) Direct-drive rotary Cable driven Hydraulics is not covered in this book, but linear motion can be done effectively using two other methods, pneumatic and electric. Pneumatic cylinders come in practically any imaginable size and have been used in many walking robot research projects. They have higher power density than electric linear actuators, but the problem with pneumatics is that the compressed air tank takes up a large volume. Linear actuators have the advantage that they can be used directly as the leg itself. The body of the actuator is mounted to the robot s chassis or another actuator, and the end of the extending segment has a foot attached to it. This concept has been used to make robots that use Cartesian and cylindrical coordinate walkers. These layouts are not covered in this book, but the reader is urged to investigate them since they can simplify the development of the control code of the robot.
Figs. 14-20 and 14-21 are two basic, common interfaces for analog inputs. These can be connected to analog-to-digital converters (ADC), comparators, buffers, and the like. The most common interfaces are as follows:
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