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A MOSFET is a variation on the FET. The MOS stands for metal oxide semiconductor. The metal oxide is a glass-like layer that is an excellent insulator. It is used to completely insulate the gate from the rest of the transistor (Fig. 12-19). In this example we look at an enhancement mode MOSFET. The source and drain are both n-type semiconductors embedded in a p-type substrate. They are isolated from each other, so no current can ow. The gate is a metal plate separated from the substrate by a thin oxide insulator. When the gate is made positive relative to the source, the holes in the p-type substrate are pushed away from the gate (meaning the lattice electrons are attracted to it). This opens up a conducting channel, allowing current to ow from the source to the drain. A depletion mode MOSFET is like the FET, where the source and drain are attached to a common n-type channel. The electric eld at the gate pinches the channel closed. The gate of a MOSFET is almost perfectly insulated from the conduction channel, so there is no noticeable current leakage. The gate acts like a capacitor. Where the other transistors are analog switches, ampli ers even, the MOSFET has a limited analog range. It is more useful as a digital switch,

A special category of walkers is actually a hybrid system that uses both legs and wheels Some of these types have the wheels mounted on fixed legs; others have the wheels mounted on legs that have one or two degrees of freedom There doesn t seem to be any widely accepted term for these hybrids, but perhaps roller walkers will suffice A commercially available roller walker has one leg with a wheel on its end, and two jointed legs with no wheels, each with three DOF The machine is a logging machine that can stand level even on very steep slopes Although this machine looks ungainly with its long legs with a wheel on one of them, it is quite capable Because of its slow traverse speed, it is transported to a job sight on the back of a special truck.

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he brains of a robot don t operate in a vacuum. They need to be connected to motors to make the robot move, arms and grippers to pick up things, lights and whistles to let you know what is going on, along with different sensors that give the robot the ability to understand its environment. Input is data passed from the environment sensors to the computer, and output is the computer s commands to the devices that do something. These input and output (I/O) devices are called peripherals and usually require some kind of conditioning or programming for the computer or microcontroller in the robot to be able to process information. This chapter discusses the most common and practical methods for interfacing realworld devices to computers and microcontrollers. Many of the concepts presented in this chapter are quite complex and repeated in other chapters, usually from a different perspective to help you understand them better.

By far the most common use for inputs in robotics is sensors. There are a variety of sensors, from the super simple to the amazingly complex. All share a single goal: providing the robot with data it can use to make intelligent decisions. A temperature sensor, for example, might help a robot determine if it s too hot to continue a certain operation. Or an energy

watch robot might record the temperature as it strolls throughout the house, looking for locations where the temperature varies widely (indicating a possible energy leak).

Fig. 12-19.

Wheels on legs can be combined to form many varieties of roller walkers Certain terrain types may be more easily traversed with this unusual mobility system The concept is gaining wider appeal as it becomes apparent a hybrid system can combine the better qualities of wheeled and legged robots If contemplating designing a roller walker, it may be more effective to think of the mobility system as a wheeled vehicle with the wheels mounted on jointed appendages rather than a walking vehicle with wheels The biggest limitation of walkers is still top speed This limitation is easily overcome by wheels A big limitation of a wheeled vehicle is getting over obstacles that are higher than the wheels The ability to raise a wheel, or reconfigure the vehicle s geometry to allow a wheel to easily drive up a high object, reduces this limitation.

Broadly speaking, there are two types of sensors (see Fig. 14-1).

Digital sensors provide simple on/off or true/false results or the stepped binary results shown in Fig. 14-1. A switch is a good example of a digital sensor: either the switch is open or it s closed. An ultrasonic ranger, which returns a binary value, with each bit indicating a specific distance, is also a digital sensor. Analog sensors provide a range of values, usually a voltage. In many cases, the sensor itself provides a varying resistance or current, which is then converted by an external circuit into a voltage. For example, when exposed to light the resistance of a CdS (cadmium sulfide) cell changes dramatically. Built in a simple voltage divider, the voltage output varies with the light striking the CDS cell.

Fig. 12-20.

There are several researchers working on roller walkers There are no figures included here, but the reader is urged to investigate these web sites: http://mozumestitechacjp/ http://wwwaistgojp/MEL/mainlab/rob/rob08ehtml.

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