ROBART I: In Retrospect
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چکیده
Figures 1. a) WALTER (circa 1965) was a teleoperated anthropomorphic robot constructed as a high-school science-fair entry; b) WALTER's grippers, elbows, and shoulder joints were tendon-actuated. 7. This actual punched card used on CRAWLER I shows the two rows of holes representing input and output data. The sketch on the back is a preliminary gripper design (for CRAWLER II) that was abandoned in favor of the vise-grip implementa-8. Partial schematic diagram (input holes only) of the original (AC-powered) punched-card reader for CRAWLER I, circa 1966. The four single-pole-double-throw switches at upper right represent the corner tactile sensors. In the follow-on 12-volt DC version, these were implemented as relays triggered by the guitar-spring sensors 9. Mechanical problems with the stacked-card transport mechanism forced a switch to the circular card format shown above. Punched output holes (not shown) were 13. Front-quarter view during the early stages of fiberglassing. The landing light is visible under the starboard wing, and simulated bomb loads hang in the racks just inboard of the mainmounts, but the Sidewinder missiles have not yet been 1-2. a) SRI's Shakey employed a monocular vision system to plan subsequent actions in a structured laboratory setting (courtesy SRI); b) the Stanford Cart later used " sliding camera " stereo-vision to support collision avoidance in more unstructured environments (courtesy Hans Moravec). 1-3. a) The Stanford University robot Mobie on display; b) close up of Mobie's omnidirectional drive wheel (courtesy Stanford University)..
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تاریخ انتشار 2005