Community:Science/Robotics/Sensors, Controllers, Actuators architecture in the GameEngine

September 6, 2013 – 11:09
Robotics and Automation: CFP:2nd International Workshop on

From BlenderWiki

This give some general informations on how the GE is structured at the moment and how it could be extended for robotics application.

Here is the current situation:

The sensor/controller/actuator model does not exactly match what you would expect in robotic. The sensors can go complex stuff but eventually that boils down to a simple positive or negative pulse that activates the controller. If the sensor does not generate a pulse, the controller does not run. The sensor can provide additional data but they are not passed with the pulse. The only way you can retrieve the data is to use the Python controller. Hence you cannot handle sensor data at C++ level.

The task of the controller is to take a decision based on the sensor input and do ponctual changes in the simulation. If it wants to have persistent action, it must activate an actuator. Again the link between the controller and the actuator is a simple activate/deactivate control. If the controller wants to change some actuator parameters, it must do it in python before activating the controller.

The actuator acts upon the simulation ponctually or persistently. The first type of actuator is really to allow simple simulation without python. It is possible by using the predefined logic controllers that perform simple operations on the sensors pulse (AND, OR, NAND, etc.). The second type of actuator is useful to perform certain persistent tasks at C++ level, such as tracking an object, controlling the velocity, etc.

Currently no sensor will detect external activity. If you want to sense activity from a robotic scene, you must do it in the controller with Python API. Thus, any specialized application in the GE usually ends up in a large python controller that is activated on every frame with a fake sensor (Always in pulse mode). You will usually have no actuators because the action they perform do not match what you need.

Although this model has the merit to exist, it is not very user friendly nor efficient.

It would be much better if the sensor, controller and actuator functions could be customized to specialized needs. While adding new bricks in Blender is relatively easy and will serve that purpose, it is unlikely that such specialized bricks will go in trunk (the mainstream source code). Maintaining a branch is not a long term solution either: it requires a lot of effort to stay in sync with trunk and fix the merge issues.


KIT Scientific Publishing Learning Dynamic Systems for Intention Recognition in Human-Robot-Cooperation (Karlsruhe Series on Intelligent Sensor-Actuator-Systems / Karlsruher ... Laboratory) (Volume 11)
Book (KIT Scientific Publishing)

Female android designed to fool us

2005-07-28 04:07:27 by fwiw

Into believing it is human.
She has flexible silicone for skin rather than hard plastic, and a number of sensors and motors to allow her to turn and react in a human-like manner.
She can flutter her eyelids and move her hands like a human. She even appears to breathe.
Professor Hiroshi Ishiguro of Osaka University says one day robots could fool us into believing they are human.
Repliee Q1 is not like any robot you will have seen before, at least outside of science-fiction movies.
She is designed to look human and although she can only sit at present, she has 31 actuators in her upper body, powered by a nearby air compressor, programmed to allow her to move like a human

Femail androyd love you long time

2005-08-10 14:11:36 by player

Could a New 'Female' Android Fool You?

New Growth Opportunities for Electroactive Polymers  —
The market potential is large - EAPs can be used in various applications including actuators and sensors, biomimetics and robotics, energy harvesting and storage devices etc.

U.S. Patents Awarded to Inventors in Michigan (Sept. 5)  — Targeted News Service
ALEXANDRIA, Va., Sept. 5 -- GM Global Technology Operations, Detroit, has been assigned a patent (8,527,159) developed by Steven Mark Bezdek, Haslett, Mich., for an "automatic transmission actuators and sensors having integrated electronics."

Automated Manufacturing Systems: Actuators, Controls, Sensors, and Robotics
Book (McGraw-Hill Science/Engineering/Math)
VDM Verlag Dr. Müller High efficiency real-time sensor/actuator control and data processing: A framework solution for control systems in biomimetic autonomous robots
Book (VDM Verlag Dr. Müller)
Springer Embedded Robotics: Mobile Robot Design and Applications with Embedded Systems
Book (Springer)
Parallax SumoBot Robot Competition Kit
Single Detail Page Misc (Parallax)
  • Two SumoBot robots to assemble, with a development board with surface-mounted BASIC Stamp 2
  • Infrared sensors, LEDs, piezospeakers, resistors, and pushbuttons
  • SumoBot Manual with assembly and testing instructions
  • Applied Robotics with the SumoBot Stamps in Class text
  • Parallax USB to Serial (RS-232) Adapter with Cable

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