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Embedded Systems - Embodied Agents, Robot Programming in Java for - - PowerPoint PPT Presentation
Embedded Systems - Embodied Agents, Robot Programming in Java for - - PowerPoint PPT Presentation
Embedded Systems - Embodied Agents, Robot Programming in Java for the NXT Mindstorms OLE CAPRANI Associate professor, Aarhus University LEGOLab, Aarhus University legolab.cs.au.dk LEGO Mindstorms Control Systems Fred Martin, Chapter 5
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LEGO Mindstorms
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Control Systems
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Fred Martin, Chapter 5
bend sensor wall floor
HandyBug
two wheels driven by two independent motors
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right left forward bend sensor value: high value - close to wall low value - away from wall
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Alishan train track
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response actuator control program analog quantity, e.g. pulse train digital quantity, e.g. power % interface stimuli sensor control program analog quantity, e.g. light digital quantity, e.g. light % interface
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response actuator control program analog quantity, e.g. pulse train digital quantity, e.g. power % interface stimuli sensor control program analog quantity, e.g. light digital quantity, e.g. light % interface
Behavior of a robot depends on
- 1. Environment
- 2. Physical robot
- 3. Control program
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Industrial robot Robot baby seal Paro Sequential strategy Reactive strategy
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PlaySound AvoidFront RandomDrive LCD Motors S S
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StayOnWhite Avoid Ghost control program
black/white sensors touch sensor
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End course projects
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Seymour Papert, Turtle, 1969
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