24-08-2012, 01:15 PM
BEAM robotics
BEAM robotics.pdf (Size: 229.4 KB / Downloads: 49)
The word "beam" in BEAM robotics is an acronym for Biology, Electronics, Aesthetics, and Mechanics. This
is a term that refers to a style of robotics that primarily uses simple analogue circuits, such as comparators, instead
of a microprocessor in order to produce an unusually simple design (in comparison to traditional mobile robots) that
trades flexibility for robustness and efficiency in performing the task for which it was designed. Exceptions to the
convention of using only analog electronics do exist and these are often colloquially referred to as "mutants". BEAM
robots typically consist of a set of the aforementioned analog circuits (mimicking biological neurons) which facilitate
the robot's response to its working environment.
Mechanisms and principles
The basic BEAM principles focus on a stimulus-response based ability within a machine. The underlying mechanism
was invented by Mark W. Tilden where the circuit (or a Nv net of Nv neurons) is used to simulate biological
neuron behaviours. Some similar research was previously done by Ed Rietman in 'Experiments In Artificial Neural
Networks'. Tilden's circuit is often compared to a shift register, but with several important features making it a
useful circuit in a mobile robot.
BEAM robots
Being focused on "reaction-based" behaviors (as originally inspired by the work of Rod Brooks), BEAM robotics
attempts to copy the characteristics and behaviors of natural organisms, with the ultimate goal of domesticating
these "wild" robots. BEAM robotics also promotes the value of aesthetics in the design of the device, proving the
adage "form follows function".
Microcontrollers
Unlike many other types of robots controlled by microcontrollers, BEAM robots are built on the principle of using
multiple simple behaviours linked directly to sensor systems with little signal conditioning. This design philosophy is
closely echoed in the classic book "Vehicles: Experiments in Synthetic Psychology".[2] Through a series of thought
experiments, this book explores the development of complex robot behaviours through simple inhibitory and
excitory sensor links to the actuators. Microcontrollers and programming are usually not a part of a traditional
(aka., "pure" ) BEAM robot due to the very low-level hardware-centric design philosophy.
There are successful robot designs mating the two technologies. These "hybrids" fulfil a requirement needing robust
control systems with the flexibility of dynamic programming, like the "horse-and-rider" topology BEAMbots (e.g.
the ScoutWalker 3 [3]). The physical robot body (the "horse") is controlled by traditional BEAM technology, and
the microcontroller and programming influences (and if needed, subsumes) the robot body from the "rider" position
. The rider component is not necessary for the robot to function, but without it the robot will lose the important
influence of a "smarter brain" telling it what to do.
Applications and current progress
At present, autonomous robots have seen limited commercial application, with some exceptions such as the iRobot
Roomba robotic vacuum cleaner and a few lawn-mowing robots. The main practical application of BEAM has
been in the rapid prototyping of motion systems and hobby/education applications. Mark Tilden has successfully
used BEAM for the prototyping of products for Wow-Wee Robotics, as evidenced by the "proto-Robosapien"
"BIODroid",[4] B.I.O.Bug, and RoboRaptor. Solarbotics Ltd., Bug'n'Bots, JCM InVentures Inc., and
PagerMotors.com have also brought BEAM-related hobby and educational goods to the marketplace. Vex has
also developed Hexbugs, tiny BEAM robots.
Aspiring BEAM roboticists often have problems with the lack of direct control over "pure" BEAM control circuits.
There is ongoing work to evaluate biomorphic techniques that copy natural systems because they seem to have an
incredible performance advantage over traditional techniques. There are many examples of how tiny insect brains
are capable of far better performance than the most advanced microelectronics.[citation needed]
Another barrier to widespread application of BEAM technology is the perceived random nature of the 'nervous
network', which requires new techniques to be learned by the builder to successfully diagnose and manipulate the
characteristics of the circuitry. A think-tank of international academics [5] meet annually in Telluride, Colorado to
address this issue directly, and until recently, Mark Tilden has been part of this effort (he had to withdraw due to his
new commercial commitments with Wow-Wee toys).
Having no long-term memory, BEAM robots generally do not learn from past behaviour. However, there has been
work in the BEAM community to address this issue. One of the most advanced BEAM robots in this vein is Bruce
Robinson's Hider [6] , which has an impressive degree of capability for a microprocessor-less design.
BEAM robotics.pdf (Size: 229.4 KB / Downloads: 49)
The word "beam" in BEAM robotics is an acronym for Biology, Electronics, Aesthetics, and Mechanics. This
is a term that refers to a style of robotics that primarily uses simple analogue circuits, such as comparators, instead
of a microprocessor in order to produce an unusually simple design (in comparison to traditional mobile robots) that
trades flexibility for robustness and efficiency in performing the task for which it was designed. Exceptions to the
convention of using only analog electronics do exist and these are often colloquially referred to as "mutants". BEAM
robots typically consist of a set of the aforementioned analog circuits (mimicking biological neurons) which facilitate
the robot's response to its working environment.
Mechanisms and principles
The basic BEAM principles focus on a stimulus-response based ability within a machine. The underlying mechanism
was invented by Mark W. Tilden where the circuit (or a Nv net of Nv neurons) is used to simulate biological
neuron behaviours. Some similar research was previously done by Ed Rietman in 'Experiments In Artificial Neural
Networks'. Tilden's circuit is often compared to a shift register, but with several important features making it a
useful circuit in a mobile robot.
BEAM robots
Being focused on "reaction-based" behaviors (as originally inspired by the work of Rod Brooks), BEAM robotics
attempts to copy the characteristics and behaviors of natural organisms, with the ultimate goal of domesticating
these "wild" robots. BEAM robotics also promotes the value of aesthetics in the design of the device, proving the
adage "form follows function".
Microcontrollers
Unlike many other types of robots controlled by microcontrollers, BEAM robots are built on the principle of using
multiple simple behaviours linked directly to sensor systems with little signal conditioning. This design philosophy is
closely echoed in the classic book "Vehicles: Experiments in Synthetic Psychology".[2] Through a series of thought
experiments, this book explores the development of complex robot behaviours through simple inhibitory and
excitory sensor links to the actuators. Microcontrollers and programming are usually not a part of a traditional
(aka., "pure" ) BEAM robot due to the very low-level hardware-centric design philosophy.
There are successful robot designs mating the two technologies. These "hybrids" fulfil a requirement needing robust
control systems with the flexibility of dynamic programming, like the "horse-and-rider" topology BEAMbots (e.g.
the ScoutWalker 3 [3]). The physical robot body (the "horse") is controlled by traditional BEAM technology, and
the microcontroller and programming influences (and if needed, subsumes) the robot body from the "rider" position
. The rider component is not necessary for the robot to function, but without it the robot will lose the important
influence of a "smarter brain" telling it what to do.
Applications and current progress
At present, autonomous robots have seen limited commercial application, with some exceptions such as the iRobot
Roomba robotic vacuum cleaner and a few lawn-mowing robots. The main practical application of BEAM has
been in the rapid prototyping of motion systems and hobby/education applications. Mark Tilden has successfully
used BEAM for the prototyping of products for Wow-Wee Robotics, as evidenced by the "proto-Robosapien"
"BIODroid",[4] B.I.O.Bug, and RoboRaptor. Solarbotics Ltd., Bug'n'Bots, JCM InVentures Inc., and
PagerMotors.com have also brought BEAM-related hobby and educational goods to the marketplace. Vex has
also developed Hexbugs, tiny BEAM robots.
Aspiring BEAM roboticists often have problems with the lack of direct control over "pure" BEAM control circuits.
There is ongoing work to evaluate biomorphic techniques that copy natural systems because they seem to have an
incredible performance advantage over traditional techniques. There are many examples of how tiny insect brains
are capable of far better performance than the most advanced microelectronics.[citation needed]
Another barrier to widespread application of BEAM technology is the perceived random nature of the 'nervous
network', which requires new techniques to be learned by the builder to successfully diagnose and manipulate the
characteristics of the circuitry. A think-tank of international academics [5] meet annually in Telluride, Colorado to
address this issue directly, and until recently, Mark Tilden has been part of this effort (he had to withdraw due to his
new commercial commitments with Wow-Wee toys).
Having no long-term memory, BEAM robots generally do not learn from past behaviour. However, there has been
work in the BEAM community to address this issue. One of the most advanced BEAM robots in this vein is Bruce
Robinson's Hider [6] , which has an impressive degree of capability for a microprocessor-less design.