BEAM robotics (acronym for Biology, Electronics, Aesthetics, and Mechanics) is a style of robotics that primarily uses simple analog circuits (instead of a microprocessor; though some "mutants" exist that do). BEAM is alternatively said to stand for: Biology is the branch of science dealing with the study of life. ... The field of electronics is the study and use of systems that operate by controlling the flow of electrons (or other charge carriers) in devices such as thermionic valves and semiconductors. ... Aesthetics, esthetics or æsthetics is both the study of beauty and the properties of a system that appeal to the senses, as opposed to the content, structures, and utility of the system itself. ... Mechanics can be seen as the prime, and even as the original, discipline of physics. ... It has been suggested that this article or section be merged with robot. ... An analog circuit (or analogue circuit) is an electric circuit that operates on analog signals. ... Microprocessors, including an Intel 80486DX2 and an Intel 80386. ...

Building Evolution Anarchy Modularity

Biotechnology Ethnology Analogy Morphology

Most BEAM robots are unusually simple in design compared to traditional mobile robots, and trade off flexibility in purpose for robustness of performance.

Mechanisms and principles

The basic BEAM principles focus on a stimulus-response based ability within a machine. The underlying mechanism was invented by Mark W. Tilden where the circuit (or a neural network [referred to as a "Nv net"] of artificial neurons [called Nv neurons]) is used to simulate biological neuron behaviors. Some similar research was previously done by Ed Rietman in 'Experiments In Artificial Neural Networks'. Tilden's circuit is often compared to a shift register, but with several important features making it a useful circuit in a mobile robot. Categories: Stub | Science ... Mark W. Tilden is perhaps most well known for his invention of BEAM robotics. ... An electrical network is an interconnection of electrical elements such as resistors, inductors, capacitors, and switches. ... Simplified view of an artificial neural network A neural network is an interconnected group of biological neurons. ... The artificial neuron (also called node) is the basic unit of an artificial neural network, simulating a biological neuron. ... An artificial neuron (also called a node or Nv neuron) is a basic unit in an artificial neural network. ... Biology studies the variety of life (clockwise from top-left) E. coli, tree fern, gazelle, Goliath beetle Biology is the science of life (from the Greek words bios = life and logos = word). ... Drawing by Santiago Ramón y Cajal of cells in the pigeon cerebellum. ... In digital circuits a shift register is a group of registers set up in a linear fashion which have their inputs and outputs connected together in such a way that the data is shifted down the line when the circuit is activated. ...

Other rules that are included (and to varying degrees applied):

1. Use the lowest number possible of electronic elements ("keep it simple")
2. Recycle and reuse technoscrap
3. Use radiant energy (such as solar power)

There are a large number of BEAM robots designed to use solar power from small solar arrays to power a "Solar Engine" which creates autonomous robots capable of operating under a wide range of lighting conditions. Besides the simplistic computational layer of Tilden's "Nervous Networks", BEAM has brought a multitude of useful tools to the roboticist's toolbox. The "Solar Engine" circuit, many H-bridge circuits for small motor control, tactile sensor designs, and meso-scale (palm-sized) robot construction techniques have been documented and shared by the BEAM community^[1]. The KISS principle is a popular maxim often invoked when discussing a design process as a reminder to avoid the unnecessary complexity that can arise during the design process. ... The international symbol for recycling. ... Radiant energy is the energy of electromagnetic waves. ... Solar power describes a number of methods of harnessing energy from the light of the sun. ... Solar Panel made by BP Solar The solar panels (photovoltaic arrays) on this small yacht at sea can charge the 12 V batteries at up to 9 Amps in full, direct sunlight. ... A Solar Engine (also called solarengine and SE) is a simple BEAM circuit which receives radiant energy, capacitates and stores the energy, and then utilizes that energy in pulses for motor power or to power other electronic circuit loads. ... A neural network is an interconnected group of artificial or biological neurons. ... A motor controller is a device or group of devices that serves to govern in some predetermined manner the performance of an electric motor. ... A sensor is a technological device or biological organ that detects, or senses, a signal or physical condition. ...

BEAM robots

Being focused on "reaction-based" behaviors (as originally inspired by the work of Rod Brooks), BEAM robotics attempts to copy the characteristics and behaviors of natural organisms, with the ultimate goal of domesticating these "wild" robots. BEAM robotics also promotes the value of aesthetics in the design of the device, as to prove the adage "form follows function" (a good-looking robot is often better built and more robust than a poor-looking one). Rodney Allen Brooks (b. ... In biology and ecology, an organism (in Greek organon = instrument) is a living complex adaptive system of organs that influence each other in such a way that they function as a more or less stable whole. ...

Microcontrollers

Unlike many other types of robots controlled by microcontrollers, BEAM robots are built on the principle of using multiple simple behaviors linked directly to sensor systems with little signal conditioning. This design philosophy is closely echoed in the classic book "Vehicles: Experiments in Synthetic Psychology", which through a series of thought experiments explores the development of complex robot behaviors through simple inhibitory and excitory sensor links to the actuators. Microcontrollers and programming are usually not a part of a traditional (aka., "pure" ) BEAM robot due to the very low-level hardware-centric design philosophy. A microcontroller (or MCU) is a computer-on-a-chip used to control electronic devices. ... An actuator is the mechanism by which an agent acts upon an environment. ... Computer programming (often simply programming) is the craft of implementing one or more interrelated abstract algorithms using a particular programming language to produce a concrete computer program. ... Hardware is the general term that is used to describe physical artifacts of a technology. ... Philosopher in Meditation (detail), by Rembrandt. ...

There are successful robot designs mating the two technologies. These hybrids fulfill a requirement needing robust control systems with the flexibility of dynamic programming, like the "horse-and-rider" topology BEAMbots (ed., The ScoutWalker 3 is such a robot ^[2]). The physical robot body (the "horse") is controlled by traditional BEAM technology, and the microcontroller and programming influences (and if needed, subsumes) the robot body from the "rider" position . The rider component is not necessary for the robot to function, but without it the robot will lose the important influence of a "smarter brain" telling it what to do. In biology, hybrid has three meanings. ... The word topology can refer to: The branch of mathematics called topology. ...

Types

There are various "-trope" BEAMbots, which attempt to achieve a specific goal. Of the series, the phototropes are the most prevalent, as light-seeking would be the most beneficial behavior for a solar-powered robot.

• Audiotropes react to sound sources.
  • Audiophiles go towards sound sources.
  • Audiophobes go away from sound sources.
• Phototropes ("light-seekers") react to light sources.
  • Photophiles go toward light sources.
  • Photophobes go away from light sources.
• Radiotropes react to radio frequency sources.
  • Radiophiles go toward RF sources.
  • Radiophobes go away from RF sources.
• Thermotropes react to heat sources.
  • Thermophiles go toward heat sources.
  • Thermophobes go away from heat sources.

In BEAM robotics, a audiotrope are robots that react to heat sources. ... Literally, light turning, this term is generally (if somewhat inaccurately) applied to light-seeking BEAM robots. ... In BREAM robotics, a radiotrope are robots that react to radio frequency sources. ... In BREAM robotics, a thermotrope are robots that react to heat sources. ...

Genera

BEAMbots have a variety of movements and positioning mechanisms. These include:

• Sitters: Unmoving robots that have a physically passive purpose.
  • Beacons: Transmit a signal (usually a navigational blip) for other BEAMbots to use.
  • Pummers: Display a "light show".
  • Ornaments: A catch-all name for sitters that are not beacons or pummers.
• Squirmers: Stationary robots that perform an interesting action (usually by moving some sort of limbs or appendages).
  • Magbots: Utilize magnetic fields for their mode of animation.
  • Flagwavers: Move a display (or "flag") around at a certain frequency.
  • Heads: Pivot and follow some detectable phenonomena, such as a light (These are popular in the BEAM community. They can be stand-alone robots, but are more often incorporated into a larger robot.).
  • Vibrators: Use a small pager motor with an offcenter weight to shake themselves about.
• Sliders: Robots that move by sliding body parts smoothly along a surface while remaining in contact with it.
  • Snakes: Move using a horizontal wave motion.
  • Earthworms: Move using a longitudinal wave motion.
• Crawlers: Robots that move using tracks or by rolling the robot's body with some sort of appendage. The body of the robot is not dragged on the ground.
  • Turbots: Roll their entire bodies using their arm(s) or flagella.
  • Inchworms: Move part of their bodies ahead, while the rest of the chassis is on the ground.
  • Tracked robots: Use treaded wheels, like a tank.
• Jumpers: Robots which propel themselves off the ground as a means of locomotion.
  • Vibrobots: Produce an irregular shaking motion moving themselves around a surface.
  • Springbots: Move forward by bouncing in one particular direction.
• Rollers: Robots that move by rolling all or part of their body.
  • Symets: Driven using a single motor with its shaft touching the ground, and moves in different directions depending on which of several symmetric contact points around the shaft are touching the ground.
  • Solarrollers: Solar-powered cars that use a single motor driving one or more wheels; often designed to complete a fairly short, straight and level course in the shortest amount of time.
  • Poppers: Use two motors with separate solar engines; rely on differential sensors to achieve a goal.
  • Miniballs: Shift their center of mass, causing their spherical bodies to roll.
• Walkers: Robots that move using legs with differential ground contact.
  • Motor Driven: Use motors to move their legs (typically 3 motors or less).
  • Muscle Wire Driven: Utilize Nitinol (nickel - titanium alloy) wires for their leg actuators.
• Swimmers: Robots that move on or below the surface of a liquid (typically water).
  • Boatbots: Operate on the surface of a liquid.
  • Subbots: Operate under the surface of a liquid.
• Fliers: Robots that move through the air for sustained periods.
  • Helicopters: Use a powered rotor to provide both lift and propulsion.
  • Planes: Use fixed or flapping wings to generate lift.
  • Blimps: Use a neutrally-buoyant balloon for lift.
• Climbers: Robot that moves up or down a vertical surface, usually on a track such as a rope or wire.

In BEAM robotics, a sitter is a robot that assumes a certain position and does not move. ... In BEAM robotics, a squirmer is a robot that assumes a certain position (and not moving) and performs an interesting action (with some or total movement of its limbs or appendages). ... In BEAM robotics, a Slider is a robot that has a mode of locomotion by moving body parts smoothly along a surface while remaining in contact with it. ... In BEAM robotics, a Crawler is a robot that has a mode of locomotion by tracks or by transferring the robots body on limbs or appendages. ... In BEAM robotics, a Jumper is a robot that has a mode of locomotion by propelling the robot off the ground and from place to place on the ground. ... In BEAM robotics, a Roller is a robot that has a mode of locomotion by rolling all or part of the robot. ... A Solar Engine (also called solarengine and SE) is a simple BEAM circuit which receives radiant energy, capacitates and stores the energy, and then utilizes that energy in pulses for motor power or to power other electronic circuit loads. ... In BEAM robotics, a walker is a walking machine that has a driven mode of locomotion by intermittent ground-contacting legs. ... A shape memory alloy (SMA) (also known as memory metal or smart wire) is a metal that remembers its geometry. ... In BEAM robotics, a swimmer is a robot that functions on or in a liquid environment. ... In BEAM robotics, a flier is a aero-robot that functions in a atmospheric environment. ... In BEAM robotics, a Climber is a robot that goes upward or downward with gradual or continuous progress on a track (such as a rope or wire). ...

Applications and Current Progress

At present, autonomous robots have seen limited commercial application, with some exceptions such as the iRobot Roomba robotic vacuum cleaner and a few lawn-mowing robots. The main practical application of BEAM has been in the rapid prototyping of motion systems and hobby/education applications. Mark Tilden has successfully used BEAM for the prototyping of products for Wow-Wee Robotics, as evidenced by the "proto-Robosapien" "BIODroid" ^[3], B.I.O.Bug, and RoboRaptor. Solarbotics Ltd., Bug'n'Bots, and PagerMotors.com have also brought BEAM-related hobby and educational goods to the marketplace. First generation Roomba Roomba is a robotic vacuum cleaner made and sold by iRobot. ... WowWee Toys Ltd. ... RoboSapien is a toy-like biomorphic robot designed by Mark Tilden and produced by Wow Wee toys. ...

Aspiring BEAM roboticists often have probems with the lack of direct control over "pure" BEAM control circuits. There is ongoing work to evaluate Biomorphic techniques that copy natural systems which seem to have an incredible performance advantage over traditional techniques. There are many examples of how tiny insect brains are capable far better performance than the most advanced microelectronics. Biomorphic robotics is a subdicipline of robotics focused upon emulating the mechanics, sensor systems, computing structures and methodologies used by animals. ...

Another barrier to widespread application of BEAM technology is the perceived random nature of the 'nervous network', which requires new techniques to be learned by the builder to successfully diagnose and manipulate the characteristics of the circuitry. A think-tank of international academics ^[4] meet annualy in Telluride, Colorado to address this issue directly, and until recently, Mark Tilden has been part of this effort (he had to withdraw due to his new commercial commitments with Wow-Wee toys).

Having no long-term memory, BEAM robots generally do not learn from past behavior. However, there has been work in the BEAM community to address this issue. One of the most advanced BEAM robots in this vein is Bruce Robinson's Hider ^[5], which has an impressive degree of capability for a microprocessor-less design.

Publications

Patents

• U.S. Patent 613809 - Method of and Apparatus for Controlling Mechanism of Moving Vehicle or Vehicles - Tesla's "telautomaton" patent; First logic gate.
• U.S. Patent 5325031 - Adaptive robotic nervous systems and control circuits therefor - Tilden's patent; A self-stabilizing control circuit utilizing pulse delay circuits for controlling the limbs of a limbed robot, and a robot incorporating such a circuit; artificial "neurons".

Books and papers A logic gate is an arrangement of controlled switches used to calculate operations using Boolean logic in digital circuits. ...

• Conrad, James M., and Jonathan W. Mills, "Stiquito: advanced experiments with a simple and inexpensive robot", The future for nitinol-propelled walking robots, Mark W. Tilden. Los Alamitos, Calif., IEEE Computer Society Press, c1998. LCCN 96029883 ISBN 0818674083
• Tilden, Mark W., and Brosl Hasslacher, "Living Machines". Los Alamos National Laboratory, Los Alamos, NM 87545, USA.
• Tilden, Mark W. and Brosl Hasslacher, "The Design of "Living" Biomech Machines: How low can one go?"". Los Alamos National Laboratory, Los Alamos, NM 87545, USA.
• Still, Susanne, and Mark W. Tilden, "Controller for a four legged walking machine". ETH Zuerich, Institute of Neuroinformatics, and Biophysics Division, Los Alamos National Laboratory.
• Braitenberg, Valentino, "Vehicles: Experiments in Synthetic Psychology", 1984. ISBN 0-262-52112-1
• Rietman, Ed, "Experiments In Artificial Neural Networks", 1988. ISBN 0-8306-0237-2
• Tilden, Mark W., and Brosl Hasslacher, "Robotics and Autonomous Machines: The Biology and Technology of Intelligent Autonomous Agents", LANL Paper ID: LA-UR-94-2636, Spring 1995.
• Dewdney, A.K. "Photovores: Intelligent Robots are Constructed From Castoffs". Scientific American Sept 1992, v267, n3, p42(1)
• Smit, Michael C., and Mark Tilden, "Beam Robotics". Algorithm, Vol. 2, No. 2, March 1991, Pg 15-19.
• Hrynkiw, David M., and Tilden, Mark W., "Junkbots, Bugbots, and Bots on Wheels", 2002. ISBN 0-07-222601-3 (Book support website)

See also

People

• Walter Grey Walter: neurophysiologist and robotician.

Robotics // His life W. Grey Walter February 19, 1910 - May 6, 1977 was born in Kansas City, Missouri, in 1910. ...

• Wired intelligence: a robot that has no programmed microprocessor and possesses analog electronics between its sensors and motors that gives it seemingly intelligent actions.
• Behavior-based robotics: branch of robotics that does not use an internal model of the environment.
• Emergent behavior: the process of complex pattern formation from simpler rules.

BEAMbot types The term wired intelligence refers to a robot that has no programmed microprocessor. ... Behavior-based robotics or behavioral robotics or behavioural robotics is the branch of robotics that does not use an internal model of the environment. ... Emergence is the process of deriving some new and coherent structures, patterns and properties in a complex system. ...

• Photovore: a robot that seeks light and uses it to power itself.
• Solarroller: a dragster robot run by solar light.

Other A photovore robot is one that seeks light. ... Solarroller is a dragster robot run by solar light, most with only one motor, which always moves it forwards. ...

• List of protosciences: list of new area of scientific endeavor in the process of becoming established.

Elements This is a list of protosciences. ...

• Monocore: This term can specifically mean one Nv neurons which is a simple oscillator. More generally, though, it is used to denote the connection of a pair of bicores.
• Bicores: Nv network loop-topology with two Nv neurons. There are grounded bicores and suspended bicores.
• Tricore: Nv network loop-topology with three Nv neurons.
• Microcores: Closed-loop implementation of a nervous net responsible for direct actuator control. Any Nv network greater than or equal to four, but specifically any multiple numeric prefixed cores (such as a Quadcore, Quincore, Hexcore, Septcore, Octacore, etc.)

Multicore-processor TriCore is the name of a multicore-processor design by Infineon Technologies. ...

Cited references

1. ^ BEAM community
2. ^ The ScoutWalker 3
3. ^ "BIODroid" Prototype gallery of the Robosapien
4. ^ [1] Institute of Neuromorphic Engineering (INE)
5. ^ Bruce Robinson's Hider

External articles and other references

Main

• Solarbotics, BEAM robotics community server - "Home of a thriving BEAM robotics community".
• SyDigital, BEAM online. 2003.
• Los Alamos National Laboratory's BEAM
• Bush, Brian O., "BEAM robotics FAQ (Frequently Asked Questions)". 1998 (created Oct 5, 1996).

Other resources

• BEAM Ring - Site List
• Shank, Alex, BEAM-life. 2002,
• Yahoo! robotics , "BEAM Robotics group - based on Nervous network technology".
• BEAMINDIA - Vishy's experiments with building and learning robotics in India
• "Robots". PiTronics (xs4all.nl), 9 October 2004.
• Van Zoelen, A. A., "The MicroCore". BEAM Robotics.
• McManis, Chuck, "H-Bridges: Theory and Practice". December 2003.
• Silveira, César Blum, "Beam Invasion". 2005.
• Boerema Jr., Clifford L., "Droidmakr's Workshop".
• D.Mancini, "BeamItaly- The Italian site dedicated to BEAM philosophy.", 1998.

BEAMbots

• Robinson, Bruce N., "Hider". Robinson's Robots, 2005.
• Solarbotics, "The ScoutWalker 3". Competition robot kit.

Interviews and news

• DevLib.Org "Mark Tilden Interview". December, 2006.
• Walke, Kevin,"Mark Tilden Interview". Exhibit Research, March 2000.
• Fang, Chiu-Yuan, "BEAM Robotics". 1999. (Historical site)
• Elner, Tom, TomboT.net [2]