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Note that the set of outputs creates a pattern that could itself be interpreted by one or more additional neurons. A second layer of neurons abstracts the result. It is like the eye seeing a pattern of colors and recognizing it as fluffy. The next layer might abstract that into the concept of cat, and the next might know it as a mammal, then an animal. (This example oversimplifies a complex problem, and does the neural network something of a disservice by anthropomorphizing it.) Given these simple computing units, the field of neural networks proceeds to find various ways to connect them to give useful results. While the patterns in the neurons can be set by hand, it is often more useful for the neural network to be trained against example data, or even self-trained by turning it loose in its environment. Networks that have been trained against examples can find patterns in the data, perhaps even patterns that the programmer would not have noticed. If trained correctly, the networks are also resistant to noise. The information coming into the network can be incomplete or even partially wrong, and the network will be able to recognize it.

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You can mend the rubber using a special waterproof adhesive. You can glue the strip together to make a band, then glue small rubber cleats onto the band. Fig. 25-1 shows the basic idea. The drive train for a tracked robot must be engineered for the task of driving a track. A two-wheel differentially driven robot (like the wooden and metal platform robots presented earlier) can be used as a base for a tracked robot. Install three free-turning large pulleys and three small drive pulleys (one driven on each side of the robot), as diagrammed in Fig. 25-2. The track fits inside the groove of the pulleys, so it won t easily slip out.

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Since mobile robots are being called on to perform more and more complex and practical tasks, and many are now carrying one or even two manipulators, this book has a section on manipulators and grippers for mobile robots It shows why a manipulator used on a robot is different in several ways from a manipulator used in industry Autonomous robots place special demands on their mobility system because of the unstructured and highly varied environment the robot might drive through, and the fact that even the best sensors are poor in comparison to a human s ability to see, feel, and balance This means the mobility system of a robot that relies on those sensors will have much less information about the environment and will encounter obstacles that it must deal with on its own.

FIGURE 25-2 Two ways to add track drive to the Walkerbot presented in 22. a. Track roller arrangement for good traction and stability but relatively poor turning radius. b. Track roller arrangement for good turning radius, but hindered traction and stability.

To propel the robot, you activate both motors so the tracks move in the same direction and at the same speed. To steer, you simply stop or reverse one side (the same as the basic differentially driven robot). For example, to turn left, stop the left track. To make a hard left turn, reverse the left track.

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