Substituting the gears with a direct link. We still need three servos, one for each side and one for the lifting-up. Model done with sketchup and simulation with sketchyphysics:
Thinking of an approach that would allow Emergence, David and I tried to identify some of the rules that will control the robots’ behaviour:
check status: horizontal or vertical > if vertical then stop motors (?) check status: upside up or upside down > if upside down, change motor direction check light intensity: > compare to previous value >> if higher than previous value >>> if more on right side, turn right (e.g. stop right motor) >>> if more on left side, turn left (e.g. stop left motor) >>> if equal go straight >> if lower than previous value, change motor direction (go backwards) check status: collision > check if wall or other robot >> if wall, then turn >> if other robot check if it's its front or back >>> if front, then keep going >>> if back, follow its orders (e.g. left and right LED) check status: following other robot? > if yes, follow its orders (e.g. left and right LED) -- light/color gradient on floor check light intensity: > compare to previous value >> if higher/lower than previous value, keep going >> if lower/higher than previous value, turn (in one or random direction)
An alternative approach to the beacon navigation idea:
Imagine the robots as photophobes with light sensors pointing downwards (e.g. one in the front and one in the back). A gradient on the floor will guide them to the center and keep them from escaping, making an arena fence unnecessary.
Nice idea to use the wheels as connectors and vice versa!
We are giving Sketchup a try, as it is free and will work on Mey’s OSX and my Lunix (via wine and some tweaking).
We called one of the robot models/alternatives in process of development “Moonwalker III”, as it will use bristles on its legs to slide like Michael’s famous movement.
This is an animation of the basic model with Sketchyphysics simulation:
Yesterday we gave a short speech in the Scope Seesions event. To let the audience know our respective backgrounds, Mey showed her Lumibots and I the robotic Quad Play. Then we exposed the ongoing project.
There was a nice feedback from the audience and a debate started about the most convinient way towards “artificial intelligence”: either a set of rules performed by a swarm, whose emergent behavior would the appear to us as “intelligently organised”; or to set up a neural networks and let the robots learn to reach their goals.