Cover image for The official guide : Robot Sumo
Title:
The official guide : Robot Sumo
Author:
Miles, Pete.
Personal Author:
Publication Information:
Berkeley, Calif. ; London : Osborne/McGraw-Hill, [2002]

©2002
Physical Description:
xxiv, 376 pages : illustrations ; 24 cm
Language:
English
ISBN:
9780072226171
Format :
Book

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TJ211.15 .M55 2002 Adult Non-Fiction Non-Fiction Area
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Summary

Summary

A guide to robot sumo. The author shows readers how to build a classic (3kg) sumo bot or a mini-sumo bot. He explains how sensors work and how to use them effectively; includes logic and programming strategies for robotic combat; and explores the rules and regulations of this sport.


Author Notes

Pete Miles has worked in robotics for more than 12 years


Table of Contents

Acknowledgmentsp. xxi
Introductionp. xxiii
Chapter 1 Introducing Robot Sumop. 1
Why Participate in Robot Sumo?p. 1
What Is Robot Sumo?p. 4
Sumo Robot Sizesp. 4
Sumo Robot Designp. 5
A Short History of Robot Sumop. 7
What You Need to Know and What You'll Learnp. 8
Chapter 2 The Rules of the Gamep. 11
The Official Japanese Rulesp. 11
Section 1 Definition of a Matchp. 12
Section 2 Dohyo Specificationsp. 12
Section 3 Robot Specificationsp. 13
Section 4 Game Principlesp. 14
Section 5 Game Procedurep. 15
Section 6 Yuko (Effective) Pointsp. 16
Section 7 Violations and Penaltiesp. 17
Section 8 Injury and Accidentsp. 18
Section 9 Objectionsp. 18
Section 10 Specifications of Robot Markingsp. 18
Section 11 Othersp. 19
Interpretation of the Rulesp. 19
Game Pointsp. 19
The Weigh-in and Sizing Checkp. 19
The Beginning of the Gamep. 20
Robot Specificationsp. 21
Robot Restrictionsp. 22
Restarting a Matchp. 23
Modification of the Rulesp. 23
Robot Sumo Weight Classesp. 24
Tournament Stylesp. 25
A Simple Gamep. 26
Chapter 3 Building the Sumo Ringp. 27
Specifications for the Sumo Ringp. 28
Color and Size Specificationsp. 28
The Surface of the Dohyop. 29
Building a Practice Sumo Ringp. 30
Building a Full-Sized Wooden Sumo Ringp. 30
Wooden Sumo Ring Designp. 30
Wooden Sumo Ring Constructionp. 31
Building a Full-Sized Metal Dohyop. 36
Metal Sumo Ring Designp. 36
Metal Sumo Ring Constructionp. 38
Building a Mini Sumo Dohyop. 38
Applying the Top Surface to the Dohyop. 40
Preparing a Wooden Surface for a Practice or Mini Sumo Ringp. 40
Adding a Metal Surfacep. 40
Adding a Vinyl Surfacep. 41
Painting Your Dohyop. 42
Painting the Wooden Surfacep. 42
Painting Vinyl and Steel Surfacesp. 46
Final Comments on Building Sumo Ringsp. 46
Chapter 4 Robot Materials and Construction Techniquesp. 47
Robot Weightp. 48
Robot Materialsp. 48
Woodp. 48
Plasticp. 49
Aluminump. 50
Brassp. 51
Material Comparisonp. 51
Fasteners for Robot Assemblyp. 53
Adhesivesp. 53
Screws and Boltsp. 53
Tools for Robot Constructionp. 55
Hand Toolsp. 55
Power Toolsp. 56
Electronic Toolsp. 56
Final Comments on Robot Materials and Construction Techniquesp. 59
Chapter 5 Making Your Robot Movep. 61
Choosing a Locomotion Style for Your Robotp. 61
The Wheeled Robotp. 62
The Tank-Treaded Robotp. 64
The Walking Robotp. 67
Selecting a Steering Methodp. 68
Ackerman Steeringp. 69
Differential Steeringp. 70
The Synchro Drive Systemp. 71
Holonomic Motion Controlp. 71
Selecting the Right Wheel for Your Robotp. 73
Wheel Sourcesp. 73
Custom Wheelsp. 77
Mini Sumo Robot Wheelsp. 79
Mounting Wheels to Drive Shaftsp. 83
Set Screw Mountingp. 84
The Pinned Shaft Methodp. 85
Hex Nut-Style Mountingp. 86
Wheel Mounting Alignmentp. 87
Quick-Disconnect Couplingp. 87
Closing Comments on Locomotionp. 88
Chapter 6 Power Transmission Fundamentalsp. 89
Power Transmission Choicesp. 90
Kinematic Fundamentalsp. 91
Differential Steeringp. 91
Pushing Forcep. 93
Speed Reductionp. 95
Increasing the Wheel Torquep. 98
Power Transmission System Componentsp. 99
Chain-Drive Systemsp. 100
Belt-Drive Systemsp. 105
Gearsp. 107
Bearingsp. 109
Gearboxesp. 112
Closing Comments on Power Transmissionp. 118
Chapter 7 Batteries: The Heart of a Robotp. 119
Battery Typesp. 120
Alkaline Batteriesp. 120
Nickel-Cadmium Batteriesp. 121
Nickel-Metal-Hydride Batteriesp. 121
Sealed-Lead-Acid Batteriesp. 122
Lithium-Ion Batteriesp. 122
Other Types of Batteriesp. 123
Battery Basicsp. 123
Battery Capacityp. 123
Internal Resistancep. 126
Battery Summaryp. 128
Battery Packsp. 128
Battery Rechargingp. 130
Battery and Wire Installationp. 132
Battery Placementp. 132
Electrical Wire Requirementsp. 133
Terminal Blocksp. 134
Multiple Power Suppliesp. 135
Closing Comments on Batteriesp. 135
Chapter 8 It's All About Power: Selecting the Right Motorp. 137
Motor Typesp. 138
Rare-Earth and Ferrite Magnet Motorsp. 138
Brushless PMDC Motorsp. 139
Electric Motor Basicsp. 139
Motor Speedp. 140
Motor Torquep. 140
Stall Currentp. 141
Power and Efficiencyp. 142
Determining the Motor Constantsp. 143
Power and Heatp. 146
Battery Effectsp. 148
Pushing the Limits of Your Motorsp. 149
Effects of Increasing Voltagep. 149
Cooling Motorsp. 150
How to Select a Motorp. 151
Defining Your Robot's Performance Specificationsp. 151
Finding the Motorp. 152
R/C Servos for Gearmotorsp. 154
Using Servos as Sumo Robot Motorsp. 155
R/C Control Signalsp. 156
Modifying a Servop. 158
Motor Sourcesp. 163
Final Comments on Motorsp. 163
Chapter 9 Motor Control Fundamentalsp. 165
Motor-Direction Controlp. 166
Switch Combinations for Motor Actionsp. 166
Relay Controlp. 167
Transistor Controlp. 168
Solid-State H-Bridgesp. 171
Integrated-Circuit-Based Solutionsp. 173
Variable-Speed Controlp. 175
Variable Resistorsp. 175
Pulse Width Modulationp. 176
Commercial Electronic Speed Controllersp. 178
Commercial H-Bridgesp. 179
Radio-Control Electronic Speed Controllersp. 179
Radio-Control-Compatible Electronic Speed Controllersp. 183
Advanced Motor Controllersp. 184
Final Comments on Motor Speed Controllersp. 185
Chapter 10 Remotely Controlling Your Robotp. 187
Radio-Control System Basicsp. 188
Radio-Control Channelsp. 189
Radio-Control Frequenciesp. 189
Radio Transmission Methodsp. 192
R/C Control Signalsp. 194
Radio Interferencep. 194
Reducing Electrical Noise from Motorsp. 194
Reducing Interference from Other Radiosp. 196
R/C Antenna Setupp. 196
R/C Configurations for Sumo Robotsp. 198
Mini Sumo Robot R/C Configurationp. 200
Servo Mixing for Steering Controlsp. 201
Tether-Control Systemsp. 206
General Specifications for Tether-Controlled Robotsp. 207
Simple Tether-Control Circuitsp. 207
Failsafe Controlp. 208
Final Comments on Remote-Control Robotsp. 209
Chapter 11 Introduction to Microcontrollersp. 211
What Is a Microcontroller?p. 212
Basic Microcontroller Featuresp. 213
Special Microcontroller Featuresp. 214
Programming Environmentsp. 215
Types of Microcontrollersp. 216
Parallax Basic Stamp Modulesp. 217
The Parallax Javelin Stamp Modulep. 221
Basic Micro Basic Atom Modulesp. 223
The Basic Micro MBasic Compilerp. 224
The Acroname BrainStemp. 225
The LEGO RCX Brickp. 226
Handy Boardp. 228
The BotBoard Plusp. 228
Single-Chip Solutionsp. 229
Closing Comments on Microcontrollersp. 230
Chapter 12 Sensors: Letting Your Robot See the Worldp. 233
Edge-Detection Sensorsp. 234
Mechanical Edge-Detection Sensorsp. 234
Optical Edge-Detection Sensorsp. 238
Opponent-Detection Sensorsp. 242
Mechanical Opponent-Detection Sensorsp. 242
Infrared Reflective Sensorsp. 243
Infrared Sensor Variationsp. 248
Sharp Infrared Proximity Detectorsp. 249
Sharp Infrared Range Sensorsp. 253
Ultrasonic Range Sensorsp. 258
Using Ultrasonic Sensorsp. 259
Sensor Placementp. 261
Protecting Your RobotAEs Rearp. 262
Sensor Range Issuesp. 262
Using Multiple Sensorsp. 262
Discovering Your Opponent's Locationp. 265
Sensor Accuracy Issuesp. 266
Drawbacks to Reflective Sensorsp. 266
It's a Noisy World Out Therep. 267
Calibrating Sensorsp. 268
Closing Remarks on Sensorsp. 269
Chapter 13 Building the Robotp. 271
Full-Sized Sumo Robotsp. 271
Viper Sumo Robotp. 272
Terminator Sumo Robotp. 284
Mini Sumo Robotsp. 286
A Mini Sumo Robot Built from Scratchp. 286
Mini Sumo Kitsp. 294
Closing Remarks on Building Robotsp. 296
Chapter 14 Offensive and Defensive Strategiesp. 297
General Competition Tipsp. 297
Knowing Your Competitionp. 298
Showing Confidencep. 298
The Luck Factorp. 299
Strategies for Remote-Control Robotsp. 299
Programming Tipsp. 299
Using Subroutinesp. 300
Subsumptive Programmingp. 300
Using Multiple Programsp. 301
Competition Strategiesp. 302
Offensive Strategiesp. 302
Defensive Strategiesp. 306
Closing Remarks on Strategyp. 308
Chapter 15 Improving Your Robot's Pushing Capabilityp. 309
Improving Wheel Tractionp. 310
Coating the Wheelsp. 310
Casting Wheelsp. 311
Increasing the Apparent Weight of Your Robotp. 313
Vacuum Systemsp. 313
Magnetic Systemsp. 320
Closing Remarks on Traction and Pushing Capabilitiesp. 323
Chapter 16 Real-Life Sumo Robots: Lessons from Robot Buildersp. 325
Mini Sumo Robotsp. 326
LEGO Sumo Robotsp. 331
Middleweight Sumo Robotsp. 331
Full-Sized Sumo Robotsp. 332
Now Go Build a Robot!p. 338
Appendix A Robot Resources and Referencesp. 339
Sumo Robot Parts Suppliersp. 340
Sumo Ring Construction Materialsp. 340
Wheels, Hubs, and Mounting Hardwarep. 340
Motor and Gearmotor Sourcesp. 341
Surplus Motors and Gearmotorsp. 342
R/C Servo Motorsp. 342
Gears and Drive Componentsp. 342
Batteriesp. 343
Motor Controllersp. 343
Remote-Control Equipmentp. 344
Microcontrollersp. 344
Robot Sensorsp. 345
Electronic Parts Suppliersp. 346
Mechanical Parts Suppliersp. 346
Vacuum Pump Suppliersp. 346
High-Strength Magnetsp. 347
Silicon and Polyurethane High Traction Wheel Casting Compoundsp. 347
Printed Circuit Board Manufacturersp. 347
Hobby Storesp. 348
Toolsp. 348
Referencesp. 348
Robot Buildingp. 348
Electronicsp. 349
Machine Designp. 349
Programmingp. 349
Other Robot References and Resourcesp. 350
Major Robot Sumo Tournamentsp. 350
Robotics Clubsp. 351
Appendix B Robot Power Suppliesp. 353
Indexp. 357