me TOE SUEUR RIED aD mn Li melo mT oot wo DDS = oe Tee ES non 9 z= —a = veContents Preface to the Second Edition Preface 1 Introduction LL References 2 TuteBot 2.1 A Tutorial Robot 2.2 TuteBot Behaviors 23 Building TuteBot 24 Electronic components 2.5 Electronic Construction 2.6 Operation . 2.7 Exercises for the Reader 28 References 3 Computational Hardware 3.1 Rug Warrior's Design Strategy 3.2 Microprocessors 3.3. The Canonical Computer34 Expansion. . 35 Data Buffer 3.6 Rug Warrior Logic 3.7 Hardware-Software Interface i . 43° Printed Circuit Boards 44 Debugging 6.1 Locomotion 6.2 Adapting Mobile Platforms 6.3 Legged Locomotion 64 Construction Systems. . 6.5 Custom Construction 6.6 Exercise 6.7 References Motors 7.1 Variety Abounds 72 How a DC Motor Works CONTENTS 166 168 169 169 179 183 . 183 184 - 191 191 193 193, 199 CONTENTS. 73. Sizing a DC Motor TA Gears 7.5 Motor Data Sheets 7.6 Motors for Rug Warrior 77 Interfacing Motors : 7.8 Software for Driving Motors 7.9 References 8 Power 8.1 Batteries . 82 Recharging... . 8.3. Power Regulation . 84. Isolation 85 References Robot Programming 9.1. The Traditional Approach 9.2. Behavior Control . 9.8 Rug Warrior's Program. 9.4 Implementing Behavior Contre 9.5 Behavior Control in IC. . 9.6 What Did We Do? 9.7 References . 10 Robot Projects 10.1 Projects for Individual Robots. 10.2 Multi-Robot Projects. . 10.3 References 11 Robot Applications LL Dowa and Dirty : Making the Rounds... . 5. 11.3 In Harm's Way 4 Summary LS References = 208 aL 213 21s. 226 249 263 265 265, 272 23 278 281 283 288, 292 302 = 309 <3 a13 313, 324 = 835 337 - 338 = 2 3M 353 353