BEAM Robotics <ul><li>Biology </li></ul><ul><li>Electronics </li></ul><ul><li>Aesthetics </li></ul><ul><li>Mechanics </li>...
Inspirations <ul><li>Billions of years of design, fabrication, and in-field testing (bio-systems). </li></ul><ul><li>W. Gr...
Rodney Brooks' Ideas <ul><li>Behavior-Based Robotics:  </li></ul><ul><ul><li>No world-building (No map-making) </li></ul><...
Brooks' Ideas (Con't) <ul><li>Subsumption Architecture – An AI control architecture built upon behavior modules (state mac...
Brooks' Ideas (Con't) <ul><li>A bunch of working “dumb” bots is better than one broken smart bot. </li></ul><ul><li>&quot;...
Key BEAM Concepts <ul><li>Favors analog over digital control </li></ul><ul><li>K.I.S.S. (Appropriate tech, minimalism) </l...
Tilden's Laws <ul><li>A robot must protect its existence at all costs. </li></ul><ul><li>A robot must obtain and maintain ...
BEAM Schemes <ul><li>The Nervous Net (Nv) – BEAM's answer to the Neural Net (Nu). </li></ul><ul><li>A real-time nonlinear ...
BEAM Schemes (Con't) Example:  Bicore – Most basic type of Nv Net with two “neurons” made of 2 caps, 2 inverters (Not gate...
BEAM Schemes (Con't) <ul><li>The Solar Engine – A simple circuit that collects energy through solar cells, stores it in a ...
Tilden's VBUG 1.5
Twin-Engine Solarroller
Pummers
Vibrobots
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BEAMPresentOOP

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BEAMPresentOOP

  1. 1. BEAM Robotics <ul><li>Biology </li></ul><ul><li>Electronics </li></ul><ul><li>Aesthetics </li></ul><ul><li>Mechanics </li></ul>Or: “Biological Electronic Aesthetic Mechanisms”
  2. 2. Inspirations <ul><li>Billions of years of design, fabrication, and in-field testing (bio-systems). </li></ul><ul><li>W. Grey Walter's “Tortoise” Robots, 1948. Analog, autonomous robots that exhibited emergent behavior. </li></ul><ul><ul><li>Vehicles - Experiments in Synthetic Psychology , Valentino Braitenberg, 1984 </li></ul></ul><ul><ul><li>Rodney Brooks' work at MIT AI Lab. The concepts of “Behavior-Based Robotics” and “Subsumption Architecture.” </li></ul></ul>
  3. 3. Rodney Brooks' Ideas <ul><li>Behavior-Based Robotics: </li></ul><ul><ul><li>No world-building (No map-making) </li></ul></ul><ul><ul><li>Reactive (Sense-Act vs. Sense-Plan-Act) </li></ul></ul><ul><ul><li>Bug-brained (No “Cognition Box”) </li></ul></ul><ul><li>“Recipe” for BBR: </li></ul><ul><ul><li>Do simple things first </li></ul></ul><ul><ul><li>Learn to do them flawlessly </li></ul></ul><ul><ul><li>Add new layers on top of successful ones </li></ul></ul><ul><ul><li>Don't change the simple things </li></ul></ul><ul><ul><li>Make new layers work as flawlessly as previous ones </li></ul></ul><ul><ul><li>Repeat as needed </li></ul></ul>
  4. 4. Brooks' Ideas (Con't) <ul><li>Subsumption Architecture – An AI control architecture built upon behavior modules (state machines) organized into layers moving from the more basic (avoid an obstacle) to the more abstract (find a place to hide, i.e. a dark spot), with “higher order” layers able to subsume lower ones. </li></ul>
  5. 5. Brooks' Ideas (Con't) <ul><li>A bunch of working “dumb” bots is better than one broken smart bot. </li></ul><ul><li>&quot;Planning is just a way of avoiding figuring out what to do next.&quot; </li></ul><ul><li>“Let the world reveal itself.” </li></ul>
  6. 6. Key BEAM Concepts <ul><li>Favors analog over digital control </li></ul><ul><li>K.I.S.S. (Appropriate tech, minimalism) </li></ul><ul><li>A human is way that a robot builds a better robot </li></ul><ul><li>BEAM Games (Evolution through competition) </li></ul><ul><li>Aesthetics drive interest (the art of robots) </li></ul><ul><li>Autonomy, Whenever possible, ASAP </li></ul><ul><li>Recycle, recycle, recycle </li></ul>
  7. 7. Tilden's Laws <ul><li>A robot must protect its existence at all costs. </li></ul><ul><li>A robot must obtain and maintain access to a power source. </li></ul><ul><li>A robot must continually search for better power sources. </li></ul><ul><li>Protect thy ass. </li></ul><ul><li>Feed thy ass. </li></ul><ul><li>Move thy ass to better real estate. </li></ul>- Better Known As -
  8. 8. BEAM Schemes <ul><li>The Nervous Net (Nv) – BEAM's answer to the Neural Net (Nu). </li></ul><ul><li>A real-time nonlinear analog control system emulating a low-level peripheral spinal system. Based on arrays of sequential RC (Resistor-Capacitor)-time-based pulse delay circuits in closed loops, an Nv net is any circuitry that can act as a medium for sustaining independent control processes. </li></ul><ul><li>Nv Neurons (Bicores, Quadcores, & Morecores) </li></ul><ul><li>A differentiating circuit element. In its simplest form, a Nv neuron is formed from a capacitor, resistor, and an inverter. </li></ul>
  9. 9. BEAM Schemes (Con't) Example: Bicore – Most basic type of Nv Net with two “neurons” made of 2 caps, 2 inverters (Not gates), and 1 shared resistor.
  10. 10. BEAM Schemes (Con't) <ul><li>The Solar Engine – A simple circuit that collects energy through solar cells, stores it in a capacitor or battery, and then dumps it on a given condition (interval of time, voltage value, darkness, etc.) </li></ul><ul><li>Free-forming Circuitry – A minimalist construction scheme where electronic components are used as structural elements </li></ul><ul><li>“The street finds its own uses for things” - Design ingenuity, cool hacks, novel apps </li></ul>
  11. 11. Tilden's VBUG 1.5
  12. 12. Twin-Engine Solarroller
  13. 13. Pummers
  14. 14. Vibrobots
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