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can no longer turn in place like the basic two-track layout can, yet has more moving parts. An unusual variation of the two-track layout is to place the two tracks inline, one in front of the other (Figure 5-15). Stability is maintained by making the tracks sufficiently wide, and steering is accomplished with an articulated joint between the two tracks. The tracks have to be supported from both sides, like on a snow mobile. Steering power is transmitted through one or two linear or rotary actuators that are part of the articulated joint. This system also benefits from the trick of making the center of each track a little lower than the ends. Since the tracks are already fore-andaft, the bowed shape on each track does not produce any wobbling. This system has great mobility, but like the half-track, cannot turn in place. It would probably work very well for vehicles intended for use on snow or sand. The two tracks could either each carry their own chassis, or a single chassis could be attached to the universal joint with the outer ends of the track sections suspended to the chassis with a sprung or active suspension.

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Adding more tracks would seem to increase the mobility of a tracked vehicle, but there are several problems with this approach. Adding more tracks necessarily means more moving parts, but it also usually means making the vehicle longer. The best layout would be one that adds more

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The OWIKITS and MOVITS robots are precision-made miniature robots in kit form. A variety of models are available, including manual (switch) and microprocessor-based versions. The robots can be used as-is, or they can be modified for use with your own electronic systems. For example, the OWIKIT Robot Arm Trainer (model OWI007) is normally operated by pressing switches on a wired control pad. With just a bit of work, you can connect the wires from the arm to a computer interface (with relays, for example) and operate the arm via software control. For the most part, the kits can be fairly easily hacked but you will have to design your own motor drivers (which is an important point as will be discussed later in the chapter). The kit comes with an interesting dual motor that operates the left and right treads. Most of the OWIKITS and MOVITS robots come with preassembled circuit boards; you are expected to assemble the mechanical parts. Some of the robots use extremely small parts and require a keen eye and steady hand. The kits are available in three skill levels: beginner, intermediate, and advanced. If you re just starting out, try one or two kits in the beginner level.

1. The human operator makes all of the high-level decisions. They are the intelligence behind the curtain, while the robot gets to worry about the low-level re exive actions. For really lame systems, the operator may be in direct control of the motors. 2. A semi-autonomous robot is only partially under operator control. The operator makes the big decisions and then turns the robot loose to implement them. Many times, it is impossible to have direct control of the robot, so it needs onboard intelligence to control itself between commands. Even if you have mostly direct control, wireless communication can be disrupted so the robot still needs to behave reasonably until the connection can be reestablished.

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