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Personal Robots Personal Robots 1980-2014 (c) 2014 Patrick H. Stakem PRRB Publishing. 1st edition, 2nd in Series, Robots 1 Contents Table of Contents Introduction..........................................................................................................................4 Introduction..........................................................................................................................6 Time Line.............................................................................................................................6 Drivers .................................................................................................................................7 Star Wars....................................................................................................................7 Transformers...............................................................................................................7 Personal computers.....................................................................................................8 The Historical Units.............................................................................................................8 Conferences................................................................................................................9 Heath Hero................................................................................................................10 Hero-JR.....................................................................................................................16 Hero-2000.................................................................................................................24 Gemini......................................................................................................................26 RB5X........................................................................................................................27 Topo-Bob..................................................................................................................29 Battlebots..................................................................................................................31 PDA-based robotics..................................................................................................31 Evolutionary Approaches.........................................................................................31 Lego Mindstorms......................................................................................................31 VEX..........................................................................................................................32 Roomba.....................................................................................................................32 Robosapien...............................................................................................................33 Enabling Technology.........................................................................................................33 Smart Sensors, and Sensornets.................................................................................33 Internet, and IoT.......................................................................................................34 Mobile platforms......................................................................................................34 Advanced Battery technology..................................................................................35 Embedded processors...............................................................................................36 Arduino.....................................................................................................................36 The Raspberry Pi .....................................................................................................38 Maple board..............................................................................................................38 Beaglebone...............................................................................................................39 Software....................................................................................................................40 Open Source versus Proprietary...............................................................................41 Languages ................................................................................................................42 Operating systems....................................................................................................43 File Systems..............................................................................................................47 Apps..........................................................................................................................48 An Architectural Model............................................................................................48 NASREM.................................................................................................................48 Real Time Control System (RCS)............................................................................49 Where's the dream?............................................................................................................53 2 Google Lunar X-Prize..............................................................................................53 STEM.......................................................................................................................53 FIRST.......................................................................................................................54 Zero Robotics Competition......................................................................................54 On your own.............................................................................................................54 Glossary of Terms..............................................................................................................56 Bibliography......................................................................................................................61 Personal Robots........................................................................................................61 Industrial Robots......................................................................................................66 3 Introduction This book is about the Personal Robots from the 1980's that inspired hopes for the future. This was triggered, in part, by the robots of the Star War series. R2D2 was based on the three service droids of the early Science Fiction movie, Silent Running. They were named Huey, Louie, and Dewey. At the same time, personal computers were emerging as affordable and easier to use. The excitement and the technology reached a tipping point. Before this time, robotics mainly meant large hydraulic units that manufactured cars. Now it came to mean personal companions. The expectations were limitless. We will present the evolutionary path from those early products and efforts, to the projects of today. The word robot is from the Czech robota, which means servant or laborer. It was coined by novelist Karel Capek in a 1917 short story. His 1920’s play R.U.R, Rossum’s Universal Robots, brought the term to the public eye. “Robot” was first applied to describe manipulator systems for manufacturing and the science fiction creations. Well before that, hacker extraordinaire Leonardo da Vinci animated a suit of armor with mechanical mechanisms, drawings of which exist. A large number of hobby-class robots appeared in the 1980s - chief among them the HERO series from Heath. In the 1980's, the International Personal Robotics Conferences provided a forum for hobbyists to get together and compare notes. Personal robots emerged as distinct from industrial (blue-collar) robots. Nolan Bushnell, of Atari fame, described these early efforts as PC's on a p.c. - personal computers on a push cart. The advent of personal computers, first the Apple, then the IBM pc, enabled personal or hobby robotics, by providing the computation platform. The next challenge was mobility, sensors, software, and mechanisms. The Personal Robot Industry changed focus in several directions. As it became clear that an affordable general purpose robot was both too complex technically and too expensive, the efforts of the industry and subculture were focused in other directions - service robots, with a well-defined role, and battlebots - a popular entertainment sport. Smaller robot construction kits from companies such as Lego emerged. Toys such as radio controlled cars, boats, and airplanes provided mobility platforms. Helicopters are hard to fly, but small computers and microelectronic gyros allowed for a stable rotary wing platform at low cost. Deployed GPS technology allowed position and destination determination. Not only was the technology becoming available, but it was becoming cheaper. In the area of software, control algorithms could be implemented in c, but Seymor Papert, at MIT, developed an object oriented language, Logo, specifically to teach programming 4 to young children. They could control a “turtle” on the screen, or an actual plastic “turtle” crawling around on the floor, but tethered with a cable. As Personal Robots are maturing, and the applications become more feasible as the basis technology becomes cheap and available, it is an exciting time. Author Mr. Stakem has degrees in Electrical Engineering from
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