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| Acknowledgments | |
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| Introduction | |
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| Inside Robot Builder's Bonanza | |
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| About the Third Edition | |
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| What You Will Learn | |
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| How to Use This Book | |
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| Expertise You Need | |
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| Conventions Used in This Book | |
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| Robot Basics | |
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| The Robot Experimenter | |
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| The Building-Block Approach | |
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| Basic Skills | |
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| Ready-Made, Kits, or Do-It-Yourself? | |
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| The Mind of the Robot Experimenter | |
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| From Here | |
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| Anatomy of a Robot | |
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| Tethered versus Self-Contained | |
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| Mobile versus Stationary | |
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| Autonomous versus Teleoperated | |
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| The Body of the Robot | |
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| Power Systems | |
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| Locomotion Systems | |
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| Arms and Hands | |
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| Sensory Devices | |
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| Output Devices | |
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| Smart versus Dumb Robots | |
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| The Concept of Robot Work | |
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| From Here | |
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| Structural Materials | |
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| Paper | |
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| Wood | |
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| Plastics | |
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| Metal Stock | |
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| Quick Turn Mechanical Prototypes | |
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| Fasteners | |
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| Scavenging: Making Do with What You Already Have | |
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| Finishing Your Robot's Structure | |
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| From Here | |
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| Buying Parts | |
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| Hobby and Model Stores | |
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| Craft Stores | |
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| Hardware Stores | |
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| Electronic Stores | |
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| Electronics Wholesalers and Distributors | |
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| Samples from Electronics Manufacturers | |
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| Specialty Stores | |
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| Shopping the Surplus Store | |
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| Finding Parts on the Internet | |
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| From Here | |
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| Electronic Components | |
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| Cram Course in Electrical Theory | |
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| Wire Gauge | |
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| Fixed Resistors | |
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| Variable Resistors | |
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| Capacitors | |
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| Diodes | |
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| Transistors | |
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| Grounding Circuitry | |
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| Integrated Circuits | |
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| Schematics and Electronic Symbols | |
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| From Here | |
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| Tools | |
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| Safety | |
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| Setting Up Shop | |
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| Basic Tools | |
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| Electronic Tools | |
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| From Here | |
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| Electronic Construction Techniques | |
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| Soldering Tips and Techniques | |
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| Breadboards | |
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| Prototyping PCBs | |
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| Point-to-Point Prototyping Wiring | |
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| Wire-Wrapping | |
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| Quick Turn Prototype Printed Circuit Boards | |
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| Headers and Connectors | |
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| Eliminating Static Electricity | |
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| Good Design Principles | |
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| From Here | |
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| Robot Platform Construction | |
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| Plastic Platforms | |
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| Types of Plastics | |
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| Working with Plastics | |
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| Building the Minibot | |
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| From Here | |
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| Wooden Platforms | |
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| Choosing the Right Wood | |
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| The Woodcutter's Art | |
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| Cutting and Drilling | |
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| Finishing | |
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| Building a Wooden Motorized Platform | |
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| From Here | |
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| Metal Platforms | |
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| Working with Metal | |
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| Build the Buggybot | |
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| Test Run | |
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| From Here | |
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| Hacking Toys | |
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| A Variety of Construction Sets | |
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| Specialty Toys for Robot Hacking | |
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| Robots from Converted Vehicles | |
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| From Here | |
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| Computers and Electronic Control | |
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| An Overview of Robot "Brains" | |
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| Brains from Discrete Components | |
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| Brains from Computers and Microcontrollers | |
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| Types of Computers for Robots | |
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| Inputs and Outputs | |
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| From Here | |
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| Programming Fundamentals | |
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| Important Programming Concepts | |
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| Robotics Programming | |
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| Graphical Programming | |
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| From Here | |
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| Computer Peripherals | |
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| Sensors as Inputs | |
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| Input and Output Methodologies | |
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| Motors and Other Outputs | |
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| Sample Output Circuits | |
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| Digital Inputs | |
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| Interfacing Analog Input | |
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| Analog-to-Digital Converters | |
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| Digital-to-Analog Conversion | |
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| Expanding Available I/O Lines | |
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| Bitwise Port Programming | |
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| From Here | |
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| The BASIC Stamp 2 Microcontroller | |
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| Choosing the Right Stamp for Your Application | |
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| Inside the BASIC Stamp | |
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| Developer's Options | |
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| Understanding and Using PBASIC | |
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| Sample Interface Applications | |
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| BS2 Application Design Suggestions | |
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| From Here | |
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| Remote Control Systems | |
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| Controlling Your Robot with a PC Joystick or Control Pad | |
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| Building a Joystick Teaching Pendant | |
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| Commanding a Robot with Infrared Remote Control | |
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| Using Radio Control Instead of Infrared | |
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| From Here | |
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| Power, Motors, and Locomotion | |
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| Batteries and Robot Power Supplies | |
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| Remember: Safety First! | |
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| Increasing Robot Performance | |
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| Combining Batteries | |
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| Types of Batteries | |
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| Battery Ratings | |
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| Battery Recharging | |
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| Recharging the Robot | |
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| Battery Care | |
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| Power Distribution | |
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| Voltage Regulation | |
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| Battery Monitors | |
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| A Robot Testing Power Supply | |
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| From Here | |
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| Principles of Robot Locomotion | |
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| First Things First: Weight | |
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| Tips for Reducing Weight | |
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| Beware of the Heavy Frame | |
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| Construction Robots with Multiple Decks | |
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| Frame Sagging Caused by Weight | |
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| Horizontal Center of Balance | |
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| Vertical Center of Gravity | |
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| Locomotion Issues | |
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| Motor Drives | |
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| Steering Methods | |
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| Calculating the Speed of Robot Travel | |
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| Round Robots or Square? | |
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| From Here | |
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| Choosing the Right Motor | |
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| AC or DC? | |
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| Continuous or Stepping? | |
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| Servo Motors | |
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| Other Motor Types | |
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| Motor Specifications | |
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| Gears and Gear Reduction | |
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| Pulleys, Belts, Sprockets, and Roller Chain | |
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| Mounting the Motor | |
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| Connecting to the Motor Shaft | |
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| From Here | |
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| Working with DC Motors | |
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| The Fundamentals of DC Motors | |
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| Reviewing DC Motor Ratings | |
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| Motor Control | |
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| Motor Speed Control | |
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| Odometry: Measuring Distance of Travel | |
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| From Here | |
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| Working with Stepper Motors | |
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| Inside a Stepper Motor | |
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| Design Considerations of Stepper Motors | |
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| Controlling a Stepper Motor | |
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| From Here | |
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| Working with Servo Motors | |
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| How Servos Work | |
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| Servos and Pulse Width Modulation | |
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| The Role of the Potentiometer | |
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| Rotational Limits | |
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| Special-Purpose Servo Types and Sizes | |
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| Gear Trains and Power Drives | |
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| Typical Servo Specs | |
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| Connector Styles and Wiring | |
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| Circuits for Controlling a Servo | |
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| Modifying a Servo for Continuous Rotation | |
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| Attaching Mechanical Linkages to Servos | |
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| Attaching Wheels to Servos | |
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| Mounting Servos on the Body of the Robot | |
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| From Here | |
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| Practical Robotics Projects | |
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| Building a Roverbot | |
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| Building the Base | |
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| Motors | |
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| Support Casters | |
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| Batteries | |
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| Riser Frame | |
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| Street Test | |
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| From Here | |
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| Building a Heavy-Duty Six-Legged Walking Robot | |
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| Frame | |
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| Legs | |
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| Motors | |
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| Batteries | |
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| Testing and Alignment | |
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| From Here | |
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| Advanced Robot Locomotion Systems | |
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| Making Tracks | |
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| Steering Wheel Systems | |
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| Six-Wheeled Robot Cart | |
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| Building Robots with Shape-Memory Alloy | |
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| From Here | |
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| Reaching Out with Robot Arms | |
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| The Human Arm | |
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| Arm Types | |
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| Activation Techniques | |
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| From Here | |
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| Building a Revolute Coordinate Arm | |
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| Design Overview | |
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| Shoulder Joint and Upper Arm | |
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| Elbow and Forearm | |
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| Refinements | |
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| Position Control | |
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| From Here | |
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| Experimenting with Gripper Designs | |
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| The Clapper | |
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| Two-Pincher Gripper | |
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| Flexible Finger Grippers | |
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| Wrist Rotation | |
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| From Here | |
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| Sensors and Navigation | |
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| The Sense of Touch | |
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| Mechanical Switch | |
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| Switch Bouncing | |
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| Optical Sensors | |
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| Mechanical Pressure Sensors | |
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| Experimenting with Piezoelectric Touch Sensors | |
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| Other Types of Touch Sensors | |
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| From Here | |
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| Object Detection | |
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| Design Overview | |
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| Noncontact Near-Object Detection | |
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| Contact Detection | |
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| Soft Touch and Compliant Collision Detection | |
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| From Here | |
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| Sound Input and Output | |
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| Cassette Recorder Sound Output | |
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| Electronically Recorded Sound Output | |
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| Sirens and Other Warning Sounds | |
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| Sound Control | |
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| Audio Amplifiers | |
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| Speech Recognition | |
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| Speech Synthesis | |
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| Sound Input Sensors | |
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| From Here | |
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| Robot Vision | |
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| Simple Sensors for Vision | |
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| One-Cell Cyclops | |
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| Multiple-Cell Light Sensors | |
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| Using Lenses and Filters with Light-Sensitive Sensors | |
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| Introduction to Video Vision Systems | |
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| Vision by Laser Light | |
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| Going beyond Light-Sensitive Vision | |
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| From Here | |
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| Navigation | |
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| A Game of Goals | |
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| Following a Predefined Path: Line Tracing | |
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| Wall Following | |
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| Odometry: The Art of Dead Reckoning | |
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| Compass Bearings | |
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| Ultrasonic Distance Measurement | |
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| "Where Am I?": Sighting Landmarks | |
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| Exploring Other Position-Referencing Systems | |
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| From Here | |
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| Fire Detection Systems | |
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| Flame Detection | |
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| Using a Pyroelectric Sensor to Detect Fire | |
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| Smoke Detection | |
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| Heat Sensing | |
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| Firefighting | |
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| From Here | |
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| Experimenting with Tilt and Gravity Sensors | |
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| Sensors to Measure Tilt | |
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| Using an Accelerometer to Measure Tilt | |
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| Constructing a Dual-Axis Accelerometer Robotic Sensor | |
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| Alternatives to Store-Bought Accelerometers | |
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| From Here | |
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| Home Robots and How Not to Chew Up Your Furniture | |
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| Sensing the Environment: Protecting the Furniture and the Robot | |
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| Movement Algorithms | |
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| Communicating with the Robot | |
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| From Here | |
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| Putting it all Together | |
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| Robot Tasks, Operations, and Behaviors | |
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| "What Does My Robot Do?": A Design Approach | |
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| Reality versus Fantasy | |
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| Understanding and Using Robot Behaviors | |
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| Multiple Robot Interaction | |
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| The Role of Subsumption Architecture | |
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| From Here | |
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| Integrating the Blocks | |
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| Basic Program Structure | |
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| Allocating Resources | |
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| Getting a Program's Attention Via Hardware | |
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| Task-Oriented Robot Control | |
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| From Here | |
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| Failure Analysis | |
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| Types of Failures | |
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| The Process of Fixing Problems | |
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| From Here | |
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| Setting Up Workshops, Demonstrations, and Competitions | |
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| Choosing the Venue | |
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| Competition Events | |
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| Alerting the Public and the Media | |
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| From Here | |
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| Further Reading | |
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| Hobby Robotics | |
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| LEGO Robotics and LEGO Building | |
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| Technical Robotics, Theory, and Design | |
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| Artificial Intelligence and Behavior-Based Robotics | |
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| Mechanical Design | |
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| Electronic Components | |
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| Microcontroller/Microprocessor Programming and Interfacing | |
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| Electronics How-To and Theory | |
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| Power Supply Design and Construction | |
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| Lasers and Fiber Optics | |
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| Interfacing to Computer Systems | |
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| |
| Magazines | |
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| Classic Robot Fiction | |
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| |
| Sources | |
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| Selected Specialty Parts and Sources | |
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| General Robotics Kits and Parts | |
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| Electronics/Mechanical: New, Used, and Surplus | |
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| |
| Microcontrollers, Single-Board Computers, Programmers | |
| |
| |
| Radio Control (R/C) Retailers | |
| |
| |
| Servo and Stepper Motors, Controllers | |
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| |
| Ready-Made Personal and Educational Robots | |
| |
| |
| Construction Kits, Toys, and Parts | |
| |
| |
| Miscellaneous | |
| |
| |
| Robot Information on the Internet | |
| |
| |
| Electronics Manufacturers | |
| |
| |
| Shape-Memory Alloy | |
| |
| |
| Microcontroller Design | |
| |
| |
| Robotics User Groups | |
| |
| |
| General Robotics Information | |
| |
| |
| Books, Literature, and Magazines | |
| |
| |
| Surplus Resources | |
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| |
| Commercial Robots | |
| |
| |
| Video Cameras | |
| |
| |
| Ultrasonic Range Finders | |
| |
| |
| LEGO Mindstorms Sources on the Web | |
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| Servo and Stepper Motor Information | |
| |
| |
| Quick Turn Mechanical and Electronics Parts Manufacturers | |
| |
| |
| Index | |