Page 191 - Modern Robotics Building Versatile Macines

GLOSSARY 171

at least three degrees of freedom; human arms have seven (because
of the separate pivots at the shoulder and elbow)
digital coming in discrete “chunks” that can be represented by
numbers, as in a modern computer. See also ANALOG
digitization the process of turning incoming information into
“chunks” having specific numerical values, as with pixels in a
digital photograph.
distributed system an architecture where processing is carried out
by many separate cooperating units rather than being controlled
centrally
dynamic walking walking in which the center of balance is adjust-
ed by exerting opposing forces—in a sense, controlled falling. This
is how people walk; the first walking robots maintained a static
balance and moved only one or two legs at a time
edge detection the ability of a robot or computer vision system
to determine the boundaries of objects and thus their shape and
nature. For example, a robot truck would need to be able to locate
a road’s edges and lane markings
effector something in a robot that manipulates the environment,
such as by closing a hand. Roughly analogous to a muscle. A
manipulator (hand) on the end of a robot arm is called an end
effector
embodied robot Rodney Brooks’s term for a robot that is capable
of perceiving and reacting to the world through its body, as does
an animal
exoskeleton a powered framework of joints, segments, and effec-
tors that can be controlled by the user using normal muscle
movements (and, in the latest developments, nerve impulses). The
exoskeleton can thus serve as an artificial limb for a disabled per-
son or for working with hazardous materials. An exoskeleton can
also be a powered framework that can be attached to the body
and used to increase strength, add to carrying capacity, or provide
protection
extropianism (also called transhumanism) a philosophical move-
ment that advocates the transformation of humanity through
advanced technologies such as robotics, genetics, and nanotech-
nology. Its goal is to transcend existing physical limitations,
explore human potential, and perhaps achieve immortality