Robotics and Artificial Intelligence

Table of Contents

Warnings

Program Download

Chapter 1: Introduction

• 1.1 Prerequisites
• 1.2 Programming and Development Environments

Chapter 2: Fundamental Elements of Robotics

Chapter 3: Controllers and Processors: The "Brains" of Robots

• 3.1 Arduino as a Programmable Control Unit
• 3.2 Arduino IDE
• 3.3 Practical Application: Robot Alarm
• 3.4 C and "Processing" – A Comparison
• 3.5 Raspberry Pi
• 3.6 Operating System Installation with NOOBS
• 3.7 Raspi-Config
• 3.8 The Command Line
• 3.9 The Linux File System
• 3.10 The Most Important Linux Commands
• 3.11 The Pi Desktop

Chapter 4: Mechanical Components

• 4.1 Screws, Nuts, and Bolts
• 4.2 Metals, Wood, and Plastics
• 4.3 Mechanics Kits and Sets
• 4.4 Wheels

Chapter 5: Electronic Components and Modules

• 5.1 For Experiments and Prototypes: Breadboards
• 5.2 Perfboards for Simple Setups
• 5.3 Resistors
• 5.4 Capacitors
• 5.5 Potentiometers
• 5.6 Light Emitting Diodes (LEDs)
• 5.7 Diodes and Transistors
• 5.8 Motor Drivers, Flyback Diodes, and Bypass Capacitors
• 5.9 For Smaller Motors: the L293D
• 5.10 The Power Pack: L298
• 5.11 Motor Driver ULN2003
• 5.12 Motor Driver Module TBB6612
• 5.13 PWM and Servo Module
• 5.14 The Robot HATs Module for the Raspberry Pi

Chapter 6: Electrical Units and Actuators

• 6.1 DC and Geared Motors
• 6.2 PWM Control
• 6.3 Stepper
• 6.4 Single-Step Mode
• 6.5 Precisely Controlled Motor Power: The Servo
• 6.6 Servomotors Under Control: The Servo Library
• 6.7 Servos on the Raspberry Pi

Chapter 7: The Senses of Robots: Sensors

• 7.1 Capturing Measured Values, Resolution, and Precision
• 7.2 The ADC in Use: Capturing Potentiometer Voltage
• 7.3 Internal and External Reference Voltages
• 7.4 Voltage Dividers for Higher Input Voltages
• 7.5 Precise Measurement Acquisition with Sensors
• 7.6 Temperature Measurement
• 7.7 Precise Temperature Values with Pre-calibrated Sensors
• 7.8 Digital Sensors
• 7.9 Optical Sensors
• 7.10 Electronic Luxmeter
• 7.11 Graphical Measurement Acquisition
• 7.12 Distance Measurement and Collision Avoidance
• 7.13 Ultrasonic Measurement
• 7.14 Optical Distance Measurement
• 7.15 The Sense of Smell for Robots: Gas Sensors
• 7.16 Position Determination

Chapter 8: Cameras and Displays

• 8.1 The RasPi-Cam
• 8.2 Webcams with USB Connection
• 8.3 Simple and Universal: Standard Displays
• 8.4 LCD Display via I2C Bus
• 8.5 Unmistakable: Blinking Display Module as a Warning Signal
• 8.6 OLED Modules: Small Format Displays
• 8.7 Fast Graphics Applications
• 8.8 OLED Display on Raspberry Pi

Chapter 9: Energy Supply for Robots: Power Supply

• 9.1 Safety First: Fuses
• 9.2 NiMH Batteries
• 9.3 Li-Ion Batteries
• 9.4 Handling Li-Ion Technology
• 9.5 Sufficient Power Reserves? – Battery Voltage Monitoring

Chapter 10: Chassis, Frames, and Bodies

• 10.1 Custom Builds and Kits
• 10.2 JOY-IT Robot Car Kit
• 10.3 PiCar-V
• 10.4 Tracked Drives

Chapter 11: Robots on an Invisible Leash: Wireless Remote Control

• 11.1 Radio Remote Control
• 11.2 Controlling a Robot Vehicle
• 11.3 Control with a Smartphone: Bluetooth
• 11.4 Bluetooth Communication
• 11.5 WLAN
• 11.6 Home Networks
• 11.7 Raspberry Pi in WLAN

Chapter 12: Robot Vehicles and Autonomous Driving

• 12.1 For Starters: Riding the World on Two Wheels
• 12.2 Autonomous Driving Through Line Following
• 12.3 Example of Bionics: Light-Seeking Robots
• 12.4 Light Follower with Two Sensors
• 12.5 Bat Technology: Collision Avoidance with Ultrasound
• 12.6 Bluetooth-Controlled Two-Wheel Robot
• 12.7 Four Wheels and Servo Steering
• 12.8 Pi-Car with WLAN Connection
• 12.9 All-Terrain Tracked Robot
• 12.10 StepperBot and Odometry
• 12.11 Environmental Data Collection: EnviRoBot

Chapter 13: Masterpieces of Control Engineering: Self-Balancing Robots

• 13.1 Two- and Three-Point Control
• 13.2 Fundamentals of Digital Control Engineering
• 13.3 Balance on One Axis: BalBot
• 13.4 Self-Balancing Algorithms

Chapter 14: Indispensable in Industry: Robot Arms and Manipulators

• 14.1 Robot Arm with Servo Control
• 14.2 Arm Control with DC Motors
• 14.3 Robot Vehicle with Gripper Arm

Chapter 15: Two, Four, or Six Legs: Walking Robots in All Variants

• 15.1 Crabs and Spiders: Quadrupeds and Hexapods
• 15.2 Four-Legged Robots in Practice: Quadruped
• 15.3 Walking on Two Legs
• 15.4 Bipeds in Practice
• 15.5 GoGoBot as a Bipedal Experimentation Platform

Chapter 16: Artificial Intelligence

• 16.1 A Brief Look at History
• 16.2 Applications and Achievements of AI
• 16.3 AI Practice with Python
• 16.4 Object Recognition
• 16.5 Facial Recognition

Chapter 17: Intelligent Robots

• 17.1 The Electronic Hunting Dog: Tracking a Rolling Ball
• 17.2 Autonomous Driving with Camera Support

Chapter 18: Humanoid Robots

• 18.1 Robots, Androids, and Cyborgs Conquer the World
• 18.2 Brave New World? – The Future of Robotics
• 18.3 Who Am I? – Machine Consciousness

Chapter 19: Outlook: Neuromorphic Chip Technology

Appendix: Bus Systems and Micropower Techniques

• Quick and Easy: the I2C Bus
• Micropower Techniques and Sleep Modes

Sources

Literature

List of Figures

Index