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the fact that each module includes all the control electronics its own operation requires, makes for a universal module design. Covering the whole arm amounts to tiling it with such modules, perhaps with some modules cut to size for better coverage. The skin resolution (distance between neighboring sensors on a module) is 2.5 cm, twice as good as that of the earlier skin shown in Figure 8.6. Consequently, the skin has about 1200 sensors. Modules are electrically connected with each other by special connectors built into all four sides of each module. The skin s material base is again Kapton, but it is slightly different from the type used in Figure 8.6. The arm used in this system is a Hitachi P60 industrial arm manipulator. One such sensor module is shown in Figure 8.8. Unlike the skin shown in Figure 8.6, surface mounting technology was used for the skin component installation. Combined with smaller components available at the time, the skin has about 2-mm maximum thickness, three times less than in the skin of Figure 8.6. Black dots in the gure are sensor detectors. Both of the described systems went through a variety of tests using the software packages based on motion planning algorithms discussed in prior chapters. A good number of tests covered these three settings: 1. Tests with a Fully Autonomous Operation of the Robot Arm Manipulator. Typically the arm would be requested to go from some position A to a position B, while automatically avoiding collisions with previously unknown obstacles that it encounters on its way. 2. Tests with Teleoperation. In real time the operator shows the arm a rough idea of the desired trajectory, moving a master arm quickly and without any account for possible obstacles, and the main (slave) arm is expected to

1.1 High Throughput else if(!finished) begin ncount <= ncount - 1; XPower <= XPower * X; end endmodule

Figure 8.8 A single sensor module, one of those used in the skin on Figure 8.7. The module is 23 by 23 cm in size and includes 8 by 8 = 64 infrared sensor pairs, spaced at 2.5 cm between neighboring sensors.

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move as close as possible to the shown trajectory while avoiding collisions with previously unknown obstacles 3 Tests with a fully autonomous operation The robot is expected to interact with the human (who shares workspace with the robot) by moving next to him or her Whether or not the human partner is watching the robot, the robot is expected to be out of the way of the human One variation of this test is when the arm follows the human, by keeping at some distance from him/her while avoiding collisions When entertaining such experiments, one is reminded of the Isaak Asimov s three laws of robotics (from his short story I, Robot, 1950) In tests 3 above, since the robots used were heavy industrial manipulators, Asimov s rst law ( A robot may not injure a human being ) suddenly took on a literal meaning.

In the above example, the same register and computational resources are reused until the computation is nished as shown in Figure 1.1. With this type of iterative implementation, no new computations can begin until the previous computation has completed. This iterative scheme is very similar to a software implementation. Also note that certain handshaking signals are required to indicate the beginning and completion of a computation. An external module must also use the handshaking to pass new data to the module and receive a completed calculation. The performance of this implementation is Throughput 8/3, or 2.7 bits/clock Latency 3 clocks Timing One multiplier delay in the critical path Contrast this with a pipelined version of the same algorithm:

Manufacturer technical manuals of industrial robot arm manipulators prohibits, in no uncertain terms, humans from sharing space with such robots Industrial robots are large and heavy and fast they can hurt Factory work cells with robots are often equipped with automatic means for stopping the robot if the rule is somehow neglected (eg, this can be a laser or wire sensor guarding the robot perimeter, doors that are automatically locked when the robot is turned on, etc) In the described experiments, however, the whole point of the sensitive skin and collision-avoidance software is that no such protection is necessary anymore A whole-sensitive robot is expected to never hurt a human: It should gently move aside or back or around the human And, it should do it no matter whether the human noticed the robot.