16 Mar 2008 RoboDo
RoboDo Control: Revised
One of my design goals in the RoboDo project is to establish
"levels" of control which mimic, in some small way, the
interactions found in nature.
When you wake up in the morning, what do you do?
I open my eyes and look at my environment. My body tells me
I am lying down. My mind then determines that I am in bed in
my bedroom. I then mentally review my priorities and decide
what to do next. This almost always involves getting out of
Note that most of this is done more or less automatically,
and that different "systems" are involved. Note also that
some of these systems are under the direction of other
systems, but that the "lower level" systems don't need
detailed instructions in order to perform their routine
tasks. When we decide to walk, for example, we don't need to
concentrate on moving each muscle... our legs know how to
walk. It's exactly this sort of layering I want to
I now see that I will need more processing power and memory
than that provided by the typical microcontroller, so I am
looking at a single board computer (SBC) instead.
The new scheme includes a SBC with a 500Mhz processor, 1 gig
of RAM, 4 USB ports, 4 com ports, a flash card slot, and
fast Ethernet. A 16 channel USB servo controller in the hips
will control the legs, while another in the torso will
control the arms. A 4 channel USB servo controller will
handle the torso bend and torso rotate, as well as the head
tilt and pan. The torso will also contain a USB I/O board
for the sensors.
Of course, all of this is subject to change. :-)
More to follow...
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