Embedded Systems - Embodied Agents, Robot Programming in Java for

the NXT Mindstorms OLE CAPRANI

Associate professor, Aarhus University!

LEGOLab, Aarhus University

legolab.cs.au.dk

LEGO Mindstorms

Control Systems

Fred Martin, Chapter 5

bend sensor

wall

floor

HandyBug

two wheels driven by two independent motors

right

left

forward

bend sensor value: high value - close to wall low value - away from wall

Alishan train track

response

actuator control program

analog quantity, e.g. pulse train

digital quantity, e.g. power %

interface

stimuli

sensor control program

analog quantity, e.g. light

digital quantity, e.g. light %

interface

response

actuator control program

analog quantity, e.g. pulse train

digital quantity, e.g. power %

interface

stimuli

sensor control program

analog quantity, e.g. light

digital quantity, e.g. light %

interface

Behavior of a robot depends on 1. Environment 2. Physical robot 3. Control program

Industrial robot Robot baby seal Paro

Sequential strategy Reactive strategy

PlaySound

AvoidFront

RandomDrive

LCD Motors

S

S

StayOnWhite

Avoid

Ghost control program

black/white sensors

touch sensor

End course projects

Seymour Papert, Turtle, 1969