June 19, 2007 10:50 AM
Circuitry included with a V2 -
- multiple infrared sensors for detecting obstacles or infrared sources
- low resolution "camera" that is used for detecting Red (bowling pins) Green (bowling ball), flesh tone (human), and blue.
- two microphones for discerning which direction a sound is coming from
- Touch sensors in each toe and heel for obstacle avoidance and stored program initiation
- Touch sensors on the back of each hand, and in the palm of each hand
- Tilt sensors in feet and torso, so that the V2 knows if it's lying down, sitting, etcetera
Preprogrammed behaviors include -
- startle, or flinch, when an object suddently obscures all IR sensors
This powers on the camera, and an attempt to identify a color. If a color is recognized, the hardcoded behavior associated with that color is executed. This includes the bowling behavior, which will attempt to throw the green ball at the red bowling pins.
- Free Roam - wanders around, listening for noises, looking for IR signals, and avoiding obstacles via the IR ranging and touch sensors
- Interaction Scripts - when toggled by the remote, the V2 will go through a non-editable dialog addressed at a RoboPet, RoboRaptor, or another RoboSapien V2. The V2 initiates basic actions by the other device by use of its infrared control.
- Lie Down/Get Up - the V2 can lie itself down on its back, or get up from its back
- Guard Mode - the V2 continually scans the area for sound or IR sources, and remembers how many times it detected something. A stored program can be initiated when the V2 detects something.
- Various motions and phrases - short actions or dialog (Give me five, burp, fart, kick, shake hands)
Programming Modes -
Sound Program - toggled when something is heard
Vision Program - toggled when something is seen
Main Program - toggled by touch or by remote
-Puppet Mode - while in puppet mode, the V2 will remember the motions of manually moved joints, and store the locations as a program. That program can be initiated by the various sensors or the remote.
That's about it. There is no documented learning behavior for the V2. In addition to direct motor control via the remote, it can wander around, and react to IR, sound, and touch by executing its preprogrammed or user programmed responses.
Even this simple level of programming can lead to what appears to be a lot of autonomy. What conditions cause particular subroutines to trigger isn't always obvious. While video taping a roboraptor in autonomous hunt mode, my V2 would occasionaly execute one of its gesture and dialog sequences. I believe a combination of the RoboRaptor sound, motion, and the IR ranging of my camcorder was triggering the V2 dialogs. It was rather eerie to have the V2 do an "Oh yeah!" after the RoboRaptor lunged at the videocamera.
ScottE -- Member (always) & Moderator (when needed)