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Robotics Primer
chapter 2
| Question | Answer |
|---|---|
| Control theory | is the mathematical study of properties of automated control systems ranging from steam engines to airplanes, and much in between. Originated in ancient Greece. |
| Cybernetics | was originally a study and comparison of communication and control processes in biological and artificial systems. |
| Biomimetic | machines with properties similar to those of biological systems. meaning they imitate biological systems in some way. |
| Analog | is one that is continuous in time and amplitude |
| Analog electronic circuit | possess analog signals |
| Reactive control | a means of controlling robots using a collection of prioritized "reflexes" |
| Emergent Behavior | a means of controlling robots using a collection of prioritized "reflexes" |
| Artificial Life | related to robotics but mostly focuses on computational, not physical, systems that exist within a computer, not in the real world. |
| Thought experiments or gedanken experiments | show how on can design simple robots (called vehicles) and get them to produce behaviors that appear very animal-like and life-like. |
| Braitenberg's Vehicles | started out with a single motor and a single light sensor, and gradually progressed to more motors and more sensors, and more interesting connections between them, all using analog electronic circuits. |
| Photophilic (loving light) | a light sensor could be connected directly to the wheels, so the stronger the light, the faster the robot moved as if it were attracted to the light. |
| Photophobic (afraid of light) | in some vehicles the connection was inverted, so the stronger the light, the slower the robot would move, as if it were repulsed by the light or afraid of it. |
| Excitatory Connection | A connection between two sensors and motors in which the stronger the sensory input, the stronger the motor output. |
| Inhibitory Connection | a connection in which the stronger the sensory input, the weaker the motor output. |
| Artificial Intelligence | Internal models of the world, Search through possible solutions, planning and reasoning to solve problems, symbolic representation of information, hierarchical system organization, and sequential program execution. |
| Shakey | used contact sensors and a camera. |
| Vision-based Navigation | using vision to move a robot around. |
| Types of robot control | reactive control, hybrid control, and behavior-based control. |
| The first modern robot | W.Grey Walter's tortoise. was constructed and controlled using the principles of cybernetics. |
| Braitenberg's vehicles | provided more examples of cybernetics and biomimetic principles. |
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