BEAM robotics
Encyclopedia
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 circuit
s, such as comparator
s, 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.
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.
Other rules that are included (and to varying degrees applied):
There are a large number of BEAM robots designed to use solar power from small solar array
s to power a "Solar Engine
" which creates autonomous robots capable of operating under a wide range of lighting conditions. Besides the simplistic computational layer of Tilden's "Nervous Network
s", BEAM has brought a multitude of useful tools to the roboticist's toolbox. The "Solar Engine" circuit, many H-bridge circuit
s for small motor control, tactile sensor designs, and meso-scale (palm-sized) robot construction techniques have been documented and shared by the BEAM community.
), BEAM robotics attempts to copy the characteristics and behaviors of natural organism
s, 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"
.
, Electronics
, Aesthetics
, and Mechanics
.
This term originated with Mark Tilden during a discussion at the Ontario Science Center in 1990. Mark was displaying a selection of his original bots which he had built while working at the University of Waterloo
.
However, there are many other semi-popular names in use, including:
s, 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". Through a series of thought experiments, this book explores the development of complex robot behaviours through simple inhibitory and excitory sensor links to the actuator
s. 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 ). 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.
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", 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 Hexbug
s, 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.
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 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 , which has an impressive degree of capability for a microprocessor-less design.
. - Adaptive robotic nervous systems and control circuits therefor - Tilden's patent; A self-stabilizing control circuit utilizing pulse delay circuits for controlling the limbs of a limbed robot, and a robot incorporating such a circuit; artificial "neurons".
Books and papers
Robotics
BEAMbot types
Other
Elements
Biology
Biology is a natural science concerned with the study of life and living organisms, including their structure, function, growth, origin, evolution, distribution, and taxonomy. Biology is a vast subject containing many subdivisions, topics, and disciplines...
, Electronics
Electronics
Electronics is the branch of science, engineering and technology that deals with electrical circuits involving active electrical components such as vacuum tubes, transistors, diodes and integrated circuits, and associated passive interconnection technologies...
, Aesthetics
Aesthetics
Aesthetics is a branch of philosophy dealing with the nature of beauty, art, and taste, and with the creation and appreciation of beauty. It is more scientifically defined as the study of sensory or sensori-emotional values, sometimes called judgments of sentiment and taste...
, and Mechanics
Mechanics
Mechanics is the branch of physics concerned with the behavior of physical bodies when subjected to forces or displacements, and the subsequent effects of the bodies on their environment....
. This is a term that refers to a style of robotics
Robotics
Robotics is the branch of technology that deals with the design, construction, operation, structural disposition, manufacture and application of robots...
that primarily uses simple analogue circuit
Analogue electronics
Analogue electronics are electronic systems with a continuously variable signal, in contrast to digital electronics where signals usually take only two different levels. The term "analogue" describes the proportional relationship between a signal and a voltage or current that represents the signal...
s, such as comparator
Comparator
In electronics, a comparator is a device that compares two voltages or currents and switches its output to indicate which is larger. They are commonly used in devices such as Analog-to-digital converters .- Input voltage range :...
s, instead of a microprocessor
Microprocessor
A microprocessor incorporates the functions of a computer's central processing unit on a single integrated circuit, or at most a few integrated circuits. It is a multipurpose, programmable device that accepts digital data as input, processes it according to instructions stored in its memory, and...
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. TildenMark Tilden
Mark W. Tilden is perhaps best known for his invention of BEAM robotics and the WowWee Robosapien humanoid robot. He is a robotics physicist who produces complex robotic movements from simple analog logic circuits, often with discrete electronic components, and usually without a...
where the circuit
Electronic circuit
An electronic circuit is composed of individual electronic components, such as resistors, transistors, capacitors, inductors and diodes, connected by conductive wires or traces through which electric current can flow...
(or a Nv net
Nv network
An Nv network is a term used in BEAM robotics referring to the small electrical Neural Networks that make up the bulk of BEAM-based robot control mechanisms.- Basic Building blocks :...
of Nv neurons
Nv network
An Nv network is a term used in BEAM robotics referring to the small electrical Neural Networks that make up the bulk of BEAM-based robot control mechanisms.- Basic Building blocks :...
) 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
Shift register
In digital circuits, a shift register is a cascade of flip flops, sharing the same clock, which has the output of any one but the last flip-flop connected to the "data" input of the next one in the chain, resulting in a circuit that shifts by one position the one-dimensional "bit array" stored in...
, but with several important features making it a useful circuit in a mobile robot.
Other rules that are included (and to varying degrees applied):
- Use the lowest number possible of electronic elements ("keep it simple"KISS principleKISS is an acronym for the design principle Keep it simple, Stupid!. Other variations include "keep it simple and stupid", "keep it short and simple", "keep it simple sir", "keep it simple or be stupid" or "keep it simple and straightforward"...
) - Recycle and reuse technoscrap
- Use radiant energyRadiant energyRadiant energy is the energy of electromagnetic waves. The quantity of radiant energy may be calculated by integrating radiant flux with respect to time and, like all forms of energy, its SI unit is the joule. The term is used particularly when radiation is emitted by a source into the...
(such as solar powerSolar powerSolar energy, radiant light and heat from the sun, has been harnessed by humans since ancient times using a range of ever-evolving technologies. Solar radiation, along with secondary solar-powered resources such as wind and wave power, hydroelectricity and biomass, account for most of the available...
)
There are a large number of BEAM robots designed to use solar power from small solar array
Photovoltaic module
A solar panel is a packaged, connected assembly of solar cells, also known as photovoltaic cells...
s to power a "Solar Engine
Solar engine
A solar engine can refer to:* Crookes radiometer, a light mill composed of an airtight glass bulb containing a partial vacuum* Solar engine, a circuit which stores energy from solar cells in a capacitor and releases it in pulses to animate toys...
" which creates autonomous robots capable of operating under a wide range of lighting conditions. Besides the simplistic computational layer of Tilden's "Nervous Network
Nv network
An Nv network is a term used in BEAM robotics referring to the small electrical Neural Networks that make up the bulk of BEAM-based robot control mechanisms.- Basic Building blocks :...
s", BEAM has brought a multitude of useful tools to the roboticist's toolbox. The "Solar Engine" circuit, many H-bridge circuit
Motor controller
A motor controller is a device or group of devices that serves to govern in some predetermined manner the performance of an electric motor. A motor controller might include a manual or automatic means for starting and stopping the motor, selecting forward or reverse rotation, selecting and...
s for small motor control, tactile sensor designs, and meso-scale (palm-sized) robot construction techniques have been documented and shared by the BEAM community.
BEAM robots
Being focused on "reaction-based" behaviors (as originally inspired by the work of Rod BrooksRodney Brooks
Rodney Allen Brooks is the former Panasonic professor of robotics at the Massachusetts Institute of Technology. Since 1986 he has authored a series of highly influential papers which have inaugurated a fundamental shift in artificial intelligence research...
), BEAM robotics attempts to copy the characteristics and behaviors of natural organism
Organism
In biology, an organism is any contiguous living system . In at least some form, all organisms are capable of response to stimuli, reproduction, growth and development, and maintenance of homoeostasis as a stable whole.An organism may either be unicellular or, as in the case of humans, comprise...
s, 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"
Form follows function
Form follows function is a principle associated with modern architecture and industrial design in the 20th century. The principle is that the shape of a building or object should be primarily based upon its intended function or purpose....
.
Disputes in the name
Various people have varying ideas about what BEAM actually stands for. The most widely accepted meaning is BiologyBiology
Biology is a natural science concerned with the study of life and living organisms, including their structure, function, growth, origin, evolution, distribution, and taxonomy. Biology is a vast subject containing many subdivisions, topics, and disciplines...
, Electronics
Electronics
Electronics is the branch of science, engineering and technology that deals with electrical circuits involving active electrical components such as vacuum tubes, transistors, diodes and integrated circuits, and associated passive interconnection technologies...
, Aesthetics
Aesthetics
Aesthetics is a branch of philosophy dealing with the nature of beauty, art, and taste, and with the creation and appreciation of beauty. It is more scientifically defined as the study of sensory or sensori-emotional values, sometimes called judgments of sentiment and taste...
, and Mechanics
Mechanics
Mechanics is the branch of physics concerned with the behavior of physical bodies when subjected to forces or displacements, and the subsequent effects of the bodies on their environment....
.
This term originated with Mark Tilden during a discussion at the Ontario Science Center in 1990. Mark was displaying a selection of his original bots which he had built while working at the University of Waterloo
University of Waterloo
The University of Waterloo is a comprehensive public university in the city of Waterloo, Ontario, Canada. The school was founded in 1957 by Drs. Gerry Hagey and Ira G. Needles, and has since grown to an institution of more than 30,000 students, faculty, and staff...
.
However, there are many other semi-popular names in use, including:
- Biotechnology Ethology Analogy Morphology
- Building Evolution Anarchy Modularity
Microcontrollers
Unlike many other types of robots controlled by microcontrollerMicrocontroller
A microcontroller is a small computer on a single integrated circuit containing a processor core, memory, and programmable input/output peripherals. Program memory in the form of NOR flash or OTP ROM is also often included on chip, as well as a typically small amount of RAM...
s, BEAM robots are built on the principle of using multiple simple behaviours linked directly to sensor systems with little signal conditioning
Signal conditioning
In electronics, signal conditioning means manipulating an analog signal in such a way that it meets the requirements of the next stage for further processing...
. This design philosophy is closely echoed in the classic book "Vehicles: Experiments in Synthetic Psychology". Through a series of thought experiments, this book explores the development of complex robot behaviours through simple inhibitory and excitory sensor links to the actuator
Actuator
An actuator is a type of motor for moving or controlling a mechanism or system. It is operated by a source of energy, usually in the form of an electric current, hydraulic fluid pressure or pneumatic pressure, and converts that energy into some kind of motion. An actuator is the mechanism by which...
s. Microcontrollers and programming are usually not a part of a traditional (aka., "pure" ) BEAM robot due to the very low-level hardware
Hardware
Hardware is a general term for equipment such as keys, locks, hinges, latches, handles, wire, chains, plumbing supplies, tools, utensils, cutlery and machine parts. Household hardware is typically sold in hardware stores....
-centric design philosophy
Philosophy
Philosophy is the study of general and fundamental problems, such as those connected with existence, knowledge, values, reason, mind, and language. Philosophy is distinguished from other ways of addressing such problems by its critical, generally systematic approach and its reliance on rational...
.
There are successful robot designs mating the two technologies. These "hybrids" fulfil a requirement needing robust control systems with the flexibility of dynamic programming
Dynamic programming
In mathematics and computer science, dynamic programming is a method for solving complex problems by breaking them down into simpler subproblems. It is applicable to problems exhibiting the properties of overlapping subproblems which are only slightly smaller and optimal substructure...
, like the "horse-and-rider" topology
Topology
Topology is a major area of mathematics concerned with properties that are preserved under continuous deformations of objects, such as deformations that involve stretching, but no tearing or gluing...
BEAMbots (e.g. the ScoutWalker 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.
Types
There are various "-trope" BEAMbots, which attempt to achieve a specific goal. Of the series, the phototropes are the most prevalent, as light-seeking would be the most beneficial behaviour for a solar-powered robot.- AudiotropeAudiotropeIn BEAM robotics, an audiotrope is a robot that reacts to sounds. This term, which literally means "sound turning," is generally applied to sound-seeking robots. More accurately, audiotropes can either seek or avoid sources of sound....
s react to sound sources.- Audiophiles go towards sound sources.
- Audiophobes go away from sound sources.
- PhototropePhototropeIn BEAM robotics, a Phototrope is a robot that reacts to light sources. Literally, "light turning," this term is generally applied to light-seeking robots...
s ("light-seekers") react to light sources.- Photophiles (also Photovores) go toward light sources.
- Photophobes go away from light sources.
- RadiotropeRadiotropeIn BEAM robotics, a radiotrope is a robot that reacts to radio frequency sources. Literally, "radio turning," this term is generally applied to radio frequency seeking robots. More accurately, radiotropes can either seek or flee sources of radio waves....
s react to radio frequencyRadio frequencyRadio frequency is a rate of oscillation in the range of about 3 kHz to 300 GHz, which corresponds to the frequency of radio waves, and the alternating currents which carry radio signals...
sources.- Radiophiles go toward RF sources.
- Radiophobes go away from RF sources.
- ThermotropeThermotropeIn BEAM robotics, a thermotrope is a robot that reacts to heat sources. Literally, "heat turning," this term is generally applied to heat-seeking robots. More accurately, thermotropes can either seek or flee sources of heat.----...
s react to heat sources.- Thermophiles go toward heat sources.
- Thermophobes go away from heat sources.
General
BEAMbots have a variety of movements and positioning mechanisms. These include:- SittersSitter (BEAM)In BEAM robotics, a sitter is a type of robot that does not move. Such robots have no self-contained means of transportation and are non-mobile. Instead of moving, sitters are usually designed to power lights in some sort of pattern...
: Unmoving robots that have a physically passive purpose.- Beacons: Transmit a signal (usually a navigational blip) for other BEAMbots to use.
- Pummers: Display a "light show".
- Ornaments: A catch-all name for sitters that are not beacons or pummers.
- SquirmersSquirmer (BEAM)In BEAM robotics, a squirmer is a stationary robot that performs an interesting action .-Genera:* Magbots: Utilize magnetic fields for their mode of animation....
: Stationary robots that perform an interesting action (usually by moving some sort of limbs or appendages).- Magbots: Utilize magnetic fields for their mode of animation.
- Flagwavers: Move a display (or "flag") around at a certain frequency.
- Heads: Pivot and follow some detectable phenomena, such as a light (These are popular in the BEAM community. They can be stand-alone robots, but are more often incorporated into a larger robot.).
- Vibrators: Use a small pager motor with an off-centre weight to shake themselves about.
- SliderSlider (BEAM)In BEAM robotics, a Slider is a robot that has a mode of locomotion by moving body parts smoothly along a surface while remaining in contact with it.-Genera:* Snakes : Driven mode of locomotion in a horizontal wave motion....
s: Robots that move by sliding body parts smoothly along a surface while remaining in contact with it.- Snakes: Move using a horizontal wave motion.
- Earthworms: Move using a longitudinal waveLongitudinal waveLongitudinal waves, as known as "l-waves", are waves that have the same direction of vibration as their direction of travel, which means that the movement of the medium is in the same direction as or the opposite direction to the motion of the wave. Mechanical longitudinal waves have been also...
motion.
- CrawlerCrawler (BEAM)In BEAM robotics, a Crawler is a robot that has a mode of locomotion by tracks or by transferring the robot's body on limbs or appendages. These do not drag parts of their body on the ground.-Genera:...
s: Robots that move using tracks or by rolling the robot's body with some sort of appendage. The body of the robot is not dragged on the ground.- Turbots: Roll their entire bodies using their arm(s) or flagella.
- Inchworms: Move part of their bodies ahead, while the rest of the chassis is on the ground.
- Tracked robots: Use tracked wheels, like a tankTankA tank is a tracked, armoured fighting vehicle designed for front-line combat which combines operational mobility, tactical offensive, and defensive capabilities...
.
- JumperJumper (BEAM)In BEAM robotics, a Jumper is a robot that has a mode of locomotion by propelling the robot off the ground and from place to place on the ground.-Genera:* Vibrobots : Produces an irregular shaking motion moving themselves around a surface....
s: Robots which propel themselves off the ground as a means of locomotion.- Vibrobots: Produce an irregular shaking motion moving themselves around a surface.
- Springbots: Move forward by bouncing in one particular direction.
- RollerRoller (BEAM)In BEAM robotics, a Roller is a robot that has a mode of locomotion by rolling all or part of the robot.-Genera:* Symets : Driven mode of locomotion via a single motor...
s: Robots that move by rolling all or part of their body.- Symets: Driven using a single motor with its shaft touching the ground, and moves in different directions depending on which of several symmetric contact points around the shaft are touching the ground.
- Solarrollers: Solar-powered cars that use a single motor driving one or more wheels; often designed to complete a fairly short, straight and level course in the shortest amount of time.
- Poppers: Use two motors with separate solar engineSolar engineA solar engine can refer to:* Crookes radiometer, a light mill composed of an airtight glass bulb containing a partial vacuum* Solar engine, a circuit which stores energy from solar cells in a capacitor and releases it in pulses to animate toys...
s; rely on differential sensors to achieve a goal. - Miniballs: Shift their centre of massCenter of massIn physics, the center of mass or barycenter of a system is the average location of all of its mass. In the case of a rigid body, the position of the center of mass is fixed in relation to the body...
, causing their spherical bodies to roll.
- WalkerWalker (BEAM)In BEAM robotics, a walker is a walking machine that has a driven mode of locomotion by intermittent ground-contacting legs. They usually possess 1 to 12 motors. "Muscle wired" walkers ultilizes Nitinol for its actuators.BEAM walking robots are creating using something called NV nets...
s: Robots that move using legs with differential ground contact.- Motor Driven: Use motors to move their legs (typically 3 motors or less).
- Muscle Wire Driven: Utilize Nitinol (nickel - titanium alloyTitanium alloyTitanium alloys are metallic materials which contain a mixture of titanium and other chemical elements. Such alloys have very high tensile strength and toughness , light weight, extraordinary corrosion resistance, and ability to withstand extreme temperatures...
) wires for their leg actuators.
- SwimmerSwimmer (BEAM)In BEAM robotics, a swimmer is a robot that functions on or in a liquid environment. These are sometimes referred to as aquabots or aquavores...
s: Robots that move on or below the surface of a liquid (typically water).- Boatbots: Operate on the surface of a liquid.
- Subbots: Operate under the surface of a liquid.
- FlierFlier (BEAM)In BEAM robotics, a flier is an aero-robot that functions in an atmospheric environment. They possess a driven mode of locomotion through and/or supported by the atmosphere...
s: Robots that move through the air for sustained periods.- Helicopters: Use a powered rotor to provide both lift and propulsion.
- Planes: Use fixed or flapping wings to generate lift.
- Blimps: Use a neutrally-buoyant balloon for lift.
- ClimberClimber (BEAM)In BEAM robotics, a Climber is a robot that goes upward or downward with gradual or continuous progress on a track ....
s: Robot that moves up or down a vertical surface, usually on a track such as a rope or wire.
Applications and current progress
At present, autonomous robots have seen limited commercial application, with some exceptions such as the iRobot RoombaRoomba
The Roomba is a series of autonomous robotic vacuum cleaners sold by iRobot. Under normal operating conditions, it is able to navigate a living space and common obstacles while vacuuming the floor...
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
Wow Wee
WowWee Group Limited, an Optimal Group company , is a Hong Kong-based company founded by Richard and Peter Yanofsky. Initially from Canada, the two brothers moved to Hong Kong to form the company in 1982 as an independent research & development and manufacturing outfit...
Robotics, as evidenced by the "proto-Robosapien
RoboSapien
RoboSapien is a toy-like biomorphic robot designed by Mark Tilden and produced by WowWee toys. The RoboSapien is preprogrammed with moves, and also can be controlled by an infrared remote control included with the toy, or by either a personal computer equipped with an infrared transmitter, and an...
" "BIODroid", 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 Hexbug
Hexbug
‘’Hexbug’’ is a brand of toy robot developed and distributed by Innovation First, Inc. Hexbug was inspired by BEAM robotics, and uses many elements of it. Originally released in the US through Radio Shack, it is now sold in most major retail stores. The original was based on 6-legged arthropods,...
s, 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
Biomorphic robotics
For the art movement, see biomorphism.Biomorphic robotics is a sub-discipline of robotics focused upon emulating the mechanics, sensor systems, computing structures and methodologies used by animals. In short, it is building robots inspired by the principles of biological systems.One of the most...
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.
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 meet annually in Telluride, Colorado
Telluride, Colorado
The town of Telluride is the county seat and most populous town of San Miguel County in the southwestern portion of the U.S. state of Colorado. The town is a former silver mining camp on the San Miguel River in the western San Juan Mountains...
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 , which has an impressive degree of capability for a microprocessor-less design.
Publications
Patents - Method of and Apparatus for Controlling Mechanism of Moving Vehicle or Vehicles - Tesla's "telautomaton" patent; First logic gateLogic gate
A logic gate is an idealized or physical device implementing a Boolean function, that is, it performs a logical operation on one or more logic inputs and produces a single logic output. Depending on the context, the term may refer to an ideal logic gate, one that has for instance zero rise time and...
. - Adaptive robotic nervous systems and control circuits therefor - Tilden's patent; A self-stabilizing control circuit utilizing pulse delay circuits for controlling the limbs of a limbed robot, and a robot incorporating such a circuit; artificial "neurons".
Books and papers
- Conrad, James M., and Jonathan W. Mills, "Stiquito: advanced experiments with a simple and inexpensive robot", The future for nitinol-propelled walking robots, Mark W. Tilden. Los Alamitos, Calif., IEEE Computer SocietyIEEE Computer SocietyThe IEEE Computer Society is a professional society of IEEE. Its purpose and scope is “to advance the theory, practice, and application of computer and information processing science and technology” and the “professional standing of its members.” The CS is the largest of 38 technical societies...
Press, c1998. LCCN 96029883 ISBN 0-8186-7408-3 - Tilden, Mark W., and Brosl HasslacherBrosl HasslacherBrosl Hasslacher was a theoretical physicist.Brosl Hasslacher obtained a bachelor's in physics from Harvard University in 1962. He did his Ph.D. with D.Z. Freeman and C.N. Yang at the State University of New York at Stony Brook...
, "Living Machines". Los Alamos National LaboratoryLos Alamos National LaboratoryLos Alamos National Laboratory is a United States Department of Energy national laboratory, managed and operated by Los Alamos National Security , located in Los Alamos, New Mexico...
, Los Alamos, NMLos Alamos, New MexicoLos Alamos is a townsite and census-designated place in Los Alamos County, New Mexico, United States, built upon four mesas of the Pajarito Plateau and the adjoining White Rock Canyon. The population of the CDP was 12,019 at the 2010 Census. The townsite or "the hill" is one part of town while...
87545, USA. - Tilden, Mark W. and Brosl HasslacherBrosl HasslacherBrosl Hasslacher was a theoretical physicist.Brosl Hasslacher obtained a bachelor's in physics from Harvard University in 1962. He did his Ph.D. with D.Z. Freeman and C.N. Yang at the State University of New York at Stony Brook...
, "The Design of "Living" Biomech Machines: How low can one go?"". Los Alamos National Laboratory, Los Alamos, NM 87545, USA. - Still, Susanne, and Mark W. Tilden, "Controller for a four legged walking machine". ETH Zuerich, Institute of Neuroinformatics, and Biophysics Division, Los Alamos National Laboratory.
- Braitenberg, Valentino, "Vehicles: Experiments in Synthetic Psychology", 1984. ISBN 0-262-52112-1
- Rietman, Ed, "Experiments In Artificial Neural Networks", 1988. ISBN 0-8306-0237-2
- Tilden, Mark W., and Brosl HasslacherBrosl HasslacherBrosl Hasslacher was a theoretical physicist.Brosl Hasslacher obtained a bachelor's in physics from Harvard University in 1962. He did his Ph.D. with D.Z. Freeman and C.N. Yang at the State University of New York at Stony Brook...
, "Robotics and Autonomous Machines: The Biology and Technology of Intelligent Autonomous Agents", LANL Paper ID: LA-UR-94-2636, Spring 1995. - Dewdney, A.K. "Photovores: Intelligent Robots are Constructed From Castoffs". Scientific AmericanScientific AmericanScientific American is a popular science magazine. It is notable for its long history of presenting science monthly to an educated but not necessarily scientific public, through its careful attention to the clarity of its text as well as the quality of its specially commissioned color graphics...
Sept 1992, v267, n3, p42(1) - Smit, Michael C., and Mark Tilden, "Beam Robotics". Algorithm, Vol. 2, No. 2, March 1991, Pg 15-19.
- Hrynkiw, David M., and Tilden, Mark W., "Junkbots, Bugbots, and Bots on Wheels", 2002. ISBN 0-07-222601-3 (Book support website)
See also
People- Mark TildenMark TildenMark W. Tilden is perhaps best known for his invention of BEAM robotics and the WowWee Robosapien humanoid robot. He is a robotics physicist who produces complex robotic movements from simple analog logic circuits, often with discrete electronic components, and usually without a...
: a robotics physicist. - Brosl HasslacherBrosl HasslacherBrosl Hasslacher was a theoretical physicist.Brosl Hasslacher obtained a bachelor's in physics from Harvard University in 1962. He did his Ph.D. with D.Z. Freeman and C.N. Yang at the State University of New York at Stony Brook...
: a theoretical physicistTheoretical physicsTheoretical physics is a branch of physics which employs mathematical models and abstractions of physics to rationalize, explain and predict natural phenomena...
. - William Grey WalterWilliam Grey WalterW. Grey Walter was a neurophysiologist and robotician.-Overview:Walter was born in Kansas City, Missouri, in 1910. His ancestry was German/British on his father's side, and American/British on his mother's side. He was brought to England in 1915, and educated at Westminster School and afterwards...
: neurophysiologist and roboticist.
Robotics
- Wired intelligenceWired intelligenceThe term wired intelligence refers to a robot that has no programmed microprocessor. Instead, the robot has a particular connection of wires and analog electronics between its sensors and motors that gives it seemingly intelligent actions...
: a robot that has no programmed microprocessor and possesses analogue electronics between its sensors and motors that gives it seemingly intelligent actions. - Behaviour-based robotics: branch of robotics that does not use an internal model of the environment.
- Emergent behaviour: the process of complex pattern formation from simpler rules.
BEAMbot types
- Analogue robot: a robot that uses analog circuitry to go towards a simple goal
- Photovore: a robot that seeks light and uses it to power itself.
- SolarrollerSolarrollerSolarroller is a BEAM dragster photovore robot run by solar panel that utlilizes sunlight. In competitions between solarrollers, each one must run one meter in the shortest time possible...
: a dragster robot run by solar light. - Turtle (robot)Turtle (robot)Turtles are a class of educational robots designed originally in the late 1940s and used in computer science and mechanical engineering training. These devices are traditionally built low to the ground with a roughly hemispheric shell and a power train capable of a very small turning radius...
: early forms of the turtlebot were the beginning of BEAM work - StiquitoStiquitoStiquito is a small, inexpensive hexapod robot commonly used by universities, high schools, and hobbyists, since 1992.Stiquito's "muscles" are made of nitinol, a shape memory alloy that expands and contracts, roughly emulating the operation of a muscle. The application of heat causes a crystalline...
: a hobbyist robot designed as a nitinol-powered hexapod walker
Other
- List of protosciences: list of new area of scientific endeavour in the process of becoming established.
Elements
- Nv networkNv networkAn Nv network is a term used in BEAM robotics referring to the small electrical Neural Networks that make up the bulk of BEAM-based robot control mechanisms.- Basic Building blocks :...
: Nv neurons connected in a loop. - Monocore: This term can specifically mean one Nv neurons which is a simple oscillator. More generally, though, it is used to denote the connection of a pair of bicores.
- Bicores: Nv network loop-topology with two Nv neurons. There are grounded bicores and suspended bicores.
- TricoreTricoreTriCore™ is a 32-bit microcontroller architecture from Infineon. It unites the elements of a RISC processor core, a microcontroller and a DSP in one chip package.- History and background :...
: Nv network loop-topology with three Nv neurons. - Microcores: Closed-loop implementation of a nervous net responsible for direct actuator control. Any Nv network greater than or equal to four, but specifically any multiple numeric prefixed cores (such as a Quadcore, Quincore, Hexcore, Septcore, Octacore, etc.)
- Braitenberg vehiclesBraitenberg VehiclesA Braitenberg vehicle is a concept conceived in a thought experiment by the Italian-Austrian cyberneticist Valentino Braitenberg to illustrate in an evolutive way the abilities of simple agents. The vehicles represent the simplest form of behavior based artificial intelligence or embodied...
: robots that can exhibit intelligent behavior while remaining completely stateless.
External links
- MiddleCreekMerchants, Handmade Robots - Many various types being designed and built today (2011).
- Solarbotics, BEAM robotics community server - Many resources but not updated since 2003.
- BEAM Robotics Wiki
- "Robots". PiTronics (xs4all.nl), 9 October 2004.
- Van Zoelen, A. A., "The MicroCore". BEAM Robotics.
- Robinson, Bruce N., "Hider". Robinson's Robots, 2005.
- Walke, Kevin,"Mark Tilden Interview". Exhibit Research, March 2000.
- Fang, Chiu-Yuan, "BEAM Robotics". 1999. (Historical site)
- TomboT.net
- D.Mancini, "BeamItaly" - Robots and Community (IT), 1998.