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| Acknowledgments | p. xxi |
| Introduction | p. xxiii |
| Introducing Robot Sumo | p. 1 |
| Why Participate in Robot Sumo? | p. 1 |
| What Is Robot Sumo? | p. 4 |
| Sumo Robot Sizes | p. 4 |
| Sumo Robot Design | p. 5 |
| A Short History of Robot Sumo | p. 7 |
| What You Need to Know and What You'll Learn | p. 8 |
| The Rules of the Game | p. 11 |
| The Official Japanese Rules | p. 11 |
| Definition of a Match | p. 12 |
| Dohyo Specifications | p. 12 |
| Robot Specifications | p. 13 |
| Game Principles | p. 14 |
| Game Procedure | p. 15 |
| Yuko (Effective) Points | p. 16 |
| Violations and Penalties | p. 17 |
| Injury and Accidents | p. 18 |
| Objections | p. 18 |
| Specifications of Robot Markings | p. 18 |
| Others | p. 19 |
| Interpretation of the Rules | p. 19 |
| Game Points | p. 19 |
| The Weigh-in and Sizing Check | p. 19 |
| The Beginning of the Game | p. 20 |
| Robot Specifications | p. 21 |
| Robot Restrictions | p. 22 |
| Restarting a Match | p. 23 |
| Modification of the Rules | p. 23 |
| Robot Sumo Weight Classes | p. 24 |
| Tournament Styles | p. 25 |
| A Simple Game | p. 26 |
| Building the Sumo Ring | p. 27 |
| Specifications for the Sumo Ring | p. 28 |
| Color and Size Specifications | p. 28 |
| The Surface of the Dohyo | p. 29 |
| Building a Practice Sumo Ring | p. 30 |
| Building a Full-Sized Wooden Sumo Ring | p. 30 |
| Wooden Sumo Ring Design | p. 30 |
| Wooden Sumo Ring Construction | p. 31 |
| Building a Full-Sized Metal Dohyo | p. 36 |
| Metal Sumo Ring Design | p. 36 |
| Metal Sumo Ring Construction | p. 38 |
| Building a Mini Sumo Dohyo | p. 38 |
| Applying the Top Surface to the Dohyo | p. 40 |
| Preparing a Wooden Surface for a Practice or Mini Sumo Ring | p. 40 |
| Adding a Metal Surface | p. 40 |
| Adding a Vinyl Surface | p. 41 |
| Painting Your Dohyo | p. 42 |
| Painting the Wooden Surface | p. 42 |
| Painting Vinyl and Steel Surfaces | p. 46 |
| Final Comments on Building Sumo Rings | p. 46 |
| Robot Materials and Construction Techniques | p. 47 |
| Robot Weight | p. 48 |
| Robot Materials | p. 48 |
| Wood | p. 48 |
| Plastic | p. 49 |
| Aluminum | p. 50 |
| Brass | p. 51 |
| Material Comparison | p. 51 |
| Fasteners for Robot Assembly | p. 53 |
| Adhesives | p. 53 |
| Screws and Bolts | p. 53 |
| Tools for Robot Construction | p. 55 |
| Hand Tools | p. 55 |
| Power Tools | p. 56 |
| Electronic Tools | p. 56 |
| Final Comments on Robot Materials and Construction Techniques | p. 59 |
| Making Your Robot Move | p. 61 |
| Choosing a Locomotion Style for Your Robot | p. 61 |
| The Wheeled Robot | p. 62 |
| The Tank-Treaded Robot | p. 64 |
| The Walking Robot | p. 67 |
| Selecting a Steering Method | p. 68 |
| Ackerman Steering | p. 69 |
| Differential Steering | p. 70 |
| The Synchro Drive System | p. 71 |
| Holonomic Motion Control | p. 71 |
| Selecting the Right Wheel for Your Robot | p. 73 |
| Wheel Sources | p. 73 |
| Custom Wheels | p. 77 |
| Mini Sumo Robot Wheels | p. 79 |
| Mounting Wheels to Drive Shafts | p. 83 |
| Set Screw Mounting | p. 84 |
| The Pinned Shaft Method | p. 85 |
| Hex Nut-Style Mounting | p. 86 |
| Wheel Mounting Alignment | p. 87 |
| Quick-Disconnect Coupling | p. 87 |
| Closing Comments on Locomotion | p. 88 |
| Power Transmission Fundamentals | p. 89 |
| Power Transmission Choices | p. 90 |
| Kinematic Fundamentals | p. 91 |
| Differential Steering | p. 91 |
| Pushing Force | p. 93 |
| Speed Reduction | p. 95 |
| Increasing the Wheel Torque | p. 98 |
| Power Transmission System Components | p. 99 |
| Chain-Drive Systems | p. 100 |
| Belt-Drive Systems | p. 105 |
| Gears | p. 107 |
| Bearings | p. 109 |
| Gearboxes | p. 112 |
| Closing Comments on Power Transmission | p. 118 |
| Batteries: The Heart of a Robot | p. 119 |
| Battery Types | p. 120 |
| Alkaline Batteries | p. 120 |
| Nickel-Cadmium Batteries | p. 121 |
| Nickel-Metal-Hydride Batteries | p. 121 |
| Sealed-Lead-Acid Batteries | p. 122 |
| Lithium-Ion Batteries | p. 122 |
| Other Types of Batteries | p. 123 |
| Battery Basics | p. 123 |
| Battery Capacity | p. 123 |
| Internal Resistance | p. 126 |
| Battery Summary | p. 128 |
| Battery Packs | p. 128 |
| Battery Recharging | p. 130 |
| Battery and Wire Installation | p. 132 |
| Battery Placement | p. 132 |
| Electrical Wire Requirements | p. 133 |
| Terminal Blocks | p. 134 |
| Multiple Power Supplies | p. 135 |
| Closing Comments on Batteries | p. 135 |
| It's All About Power: Selecting the Right Motor | p. 137 |
| Motor Types | p. 138 |
| Rare-Earth and Ferrite Magnet Motors | p. 138 |
| Brushless PMDC Motors | p. 139 |
| Electric Motor Basics | p. 139 |
| Motor Speed | p. 140 |
| Motor Torque | p. 140 |
| Stall Current | p. 141 |
| Power and Efficiency | p. 142 |
| Determining the Motor Constants | p. 143 |
| Power and Heat | p. 146 |
| Battery Effects | p. 148 |
| Pushing the Limits of Your Motors | p. 149 |
| Effects of Increasing Voltage | p. 149 |
| Cooling Motors | p. 150 |
| How to Select a Motor | p. 151 |
| Defining Your Robot's Performance Specifications | p. 151 |
| Finding the Motor | p. 152 |
| R/C Servos for Gearmotors | p. 154 |
| Using Servos as Sumo Robot Motors | p. 155 |
| R/C Control Signals | p. 156 |
| Modifying a Servo | p. 158 |
| Motor Sources | p. 163 |
| Final Comments on Motors | p. 163 |
| Motor Control Fundamentals | p. 165 |
| Motor-Direction Control | p. 166 |
| Switch Combinations for Motor Actions | p. 166 |
| Relay Control | p. 167 |
| Transistor Control | p. 168 |
| Solid-State H-Bridges | p. 171 |
| Integrated-Circuit-Based Solutions | p. 173 |
| Variable-Speed Control | p. 175 |
| Variable Resistors | p. 175 |
| Pulse Width Modulation | p. 176 |
| Commercial Electronic Speed Controllers | p. 178 |
| Commercial H-Bridges | p. 179 |
| Radio-Control Electronic Speed Controllers | p. 179 |
| Radio-Control-Compatible Electronic Speed Controllers | p. 183 |
| Advanced Motor Controllers | p. 184 |
| Final Comments on Motor Speed Controllers | p. 185 |
| Remotely Controlling Your Robot | p. 187 |
| Radio-Control System Basics | p. 188 |
| Radio-Control Channels | p. 189 |
| Radio-Control Frequencies | p. 189 |
| Radio Transmission Methods | p. 192 |
| R/C Control Signals | p. 194 |
| Radio Interference | p. 194 |
| Reducing Electrical Noise from Motors | p. 194 |
| Reducing Interference from Other Radios | p. 196 |
| R/C Antenna Setup | p. 196 |
| R/C Configurations for Sumo Robots | p. 198 |
| Mini Sumo Robot R/C Configuration | p. 200 |
| Servo Mixing for Steering Controls | p. 201 |
| Tether-Control Systems | p. 206 |
| General Specifications for Tether-Controlled Robots | p. 207 |
| Simple Tether-Control Circuits | p. 207 |
| Failsafe Control | p. 208 |
| Final Comments on Remote-Control Robots | p. 209 |
| Introduction to Microcontrollers | p. 211 |
| What Is a Microcontroller? | p. 212 |
| Basic Microcontroller Features | p. 213 |
| Special Microcontroller Features | p. 214 |
| Programming Environments | p. 215 |
| Types of Microcontrollers | p. 216 |
| Parallax Basic Stamp Modules | p. 217 |
| The Parallax Javelin Stamp Module | p. 221 |
| Basic Micro Basic Atom Modules | p. 223 |
| The Basic Micro MBasic Compiler | p. 224 |
| The Acroname BrainStem | p. 225 |
| The LEGO RCX Brick | p. 226 |
| Handy Board | p. 228 |
| The BotBoard Plus | p. 228 |
| Single-Chip Solutions | p. 229 |
| Closing Comments on Microcontrollers | p. 230 |
| Sensors: Letting Your Robot See the World | p. 233 |
| Edge-Detection Sensors | p. 234 |
| Mechanical Edge-Detection Sensors | p. 234 |
| Optical Edge-Detection Sensors | p. 238 |
| Opponent-Detection Sensors | p. 242 |
| Mechanical Opponent-Detection Sensors | p. 242 |
| Infrared Reflective Sensors | p. 243 |
| Infrared Sensor Variations | p. 248 |
| Sharp Infrared Proximity Detectors | p. 249 |
| Sharp Infrared Range Sensors | p. 253 |
| Ultrasonic Range Sensors | p. 258 |
| Using Ultrasonic Sensors | p. 259 |
| Sensor Placement | p. 261 |
| Protecting Your RobotAEs Rear | p. 262 |
| Sensor Range Issues | p. 262 |
| Using Multiple Sensors | p. 262 |
| Discovering Your Opponent's Location | p. 265 |
| Sensor Accuracy Issues | p. 266 |
| Drawbacks to Reflective Sensors | p. 266 |
| It's a Noisy World Out There | p. 267 |
| Calibrating Sensors | p. 268 |
| Closing Remarks on Sensors | p. 269 |
| Building the Robot | p. 271 |
| Full-Sized Sumo Robots | p. 271 |
| Viper Sumo Robot | p. 272 |
| Terminator Sumo Robot | p. 284 |
| Mini Sumo Robots | p. 286 |
| A Mini Sumo Robot Built from Scratch | p. 286 |
| Mini Sumo Kits | p. 294 |
| Closing Remarks on Building Robots | p. 296 |
| Offensive and Defensive Strategies | p. 297 |
| General Competition Tips | p. 297 |
| Knowing Your Competition | p. 298 |
| Showing Confidence | p. 298 |
| The Luck Factor | p. 299 |
| Strategies for Remote-Control Robots | p. 299 |
| Programming Tips | p. 299 |
| Using Subroutines | p. 300 |
| Subsumptive Programming | p. 300 |
| Using Multiple Programs | p. 301 |
| Competition Strategies | p. 302 |
| Offensive Strategies | p. 302 |
| Defensive Strategies | p. 306 |
| Closing Remarks on Strategy | p. 308 |
| Improving Your Robot's Pushing Capability | p. 309 |
| Improving Wheel Traction | p. 310 |
| Coating the Wheels | p. 310 |
| Casting Wheels | p. 311 |
| Increasing the Apparent Weight of Your Robot | p. 313 |
| Vacuum Systems | p. 313 |
| Magnetic Systems | p. 320 |
| Closing Remarks on Traction and Pushing Capabilities | p. 323 |
| Real-Life Sumo Robots: Lessons from Robot Builders | p. 325 |
| Mini Sumo Robots | p. 326 |
| LEGO Sumo Robots | p. 331 |
| Middleweight Sumo Robots | p. 331 |
| Full-Sized Sumo Robots | p. 332 |
| Now Go Build a Robot! | p. 338 |
| Robot Resources and References | p. 339 |
| Sumo Robot Parts Suppliers | p. 340 |
| Sumo Ring Construction Materials | p. 340 |
| Wheels, Hubs, and Mounting Hardware | p. 340 |
| Motor and Gearmotor Sources | p. 341 |
| Surplus Motors and Gearmotors | p. 342 |
| R/C Servo Motors | p. 342 |
| Gears and Drive Components | p. 342 |
| Batteries | p. 343 |
| Motor Controllers | p. 343 |
| Remote-Control Equipment | p. 344 |
| Microcontrollers | p. 344 |
| Robot Sensors | p. 345 |
| Electronic Parts Suppliers | p. 346 |
| Mechanical Parts Suppliers | p. 346 |
| Vacuum Pump Suppliers | p. 346 |
| High-Strength Magnets | p. 347 |
| Silicon and Polyurethane High Traction Wheel Casting Compounds | p. 347 |
| Printed Circuit Board Manufacturers | p. 347 |
| Hobby Stores | p. 348 |
| Tools | p. 348 |
| References | p. 348 |
| Robot Building | p. 348 |
| Electronics | p. 349 |
| Machine Design | p. 349 |
| Programming | p. 349 |
| Other Robot References and Resources | p. 350 |
| Major Robot Sumo Tournaments | p. 350 |
| Robotics Clubs | p. 351 |
| Robot Power Supplies | p. 353 |
| Index | p. 357 |
| Table of Contents provided by Syndetics. All Rights Reserved. |
ISBN: 9780072226171
ISBN-10: 007222617X
Series: The Official Guide
Published: 10th October 2002
Format: Paperback
Language: English
Number of Pages: 408
Audience: General Adult
Publisher: OSBORNE
Country of Publication: US
Dimensions (cm): 22.86 x 19.05 x 2.54
Weight (kg): 0.68
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