Editing BEAM robotics (section)

==BEAM robots==
Being focused on "reaction-based" behaviors (as originally inspired by the work of [[Rodney Brooks]]), BEAM robotics attempts to copy the characteristics and behaviours of biological [[organism]]s, with the ultimate goal of domesticating these "wild" robots. The aesthetics of BEAM robots derive from the principle "[[form follows function]]" modulated by the particular design choices the builder makes while implementing the desired functionality.

===Disputes in the name===
Various people have varying ideas about what BEAM actually stands for. The most widely accepted meaning is ''[[Biology|'''B'''iology]], [[Electronics|'''E'''lectronics]], [[Aesthetics|'''A'''esthetics]], and [[Mechanics|'''M'''echanics]]''.

This term originated with Mark Tilden during a discussion at the Ontario Science Centre in 1990. Mark was displaying a selection of his original bots which he had built while working at [[University of Waterloo|the University of Waterloo]].

However, there are many other semi-popular names in use,{{citation needed|date=May 2017}} including:
* '''B'''iotechnology '''E'''thology '''A'''nalogy '''M'''orphology
* '''B'''uilding '''E'''volution '''A'''narchy '''M'''odularity

===Microcontrollers===
Unlike many other types of robots controlled by [[microcontroller]]s, BEAM robots are built on the principle of using multiple simple behaviours linked directly to sensor systems with little [[signal conditioning]]. This design philosophy is closely echoed in the classic book "Vehicles: Experiments in Synthetic Psychology".<ref>Braitenberg, Valentino. [https://books.google.com/books?id=7KkUAT_q_sQC Vehicles, Experiments in Synthetic Psychology]. Cambridge, Mass: MIT Press, 1984. Print.</ref> Through a series of thought experiments, this book explores the development of complex robot behaviours through simple inhibitory and excitory sensor links to the [[actuator]]s. Microcontrollers and [[computer programming]] are usually not a part of a traditional (aka., "pure" ) BEAM robot due to the very low-level hardware-centric design [[philosophy]].

There are successful robot designs mating the two technologies. These "hybrids" fulfill a need for robust control systems with the added flexibility of dynamic programming, like the "[[horse-and-rider topology|horse-and-rider]]" [[topology]] BEAMbots (e.g. the ScoutWalker 3<ref>{{Cite web |url=http://www.solarbotics.com/product/k_w3/ |title=The ScoutWalker 3 |access-date=2012-06-21 |archive-url=https://web.archive.org/web/20120717010648/http://www.solarbotics.com/product/k_w3/ |archive-date=2012-07-17 |url-status=dead }}</ref>). 'Horse' behavior is implemented with traditional BEAM technology but a microcontroller based 'rider' can guide that behavior so as to accomplish the goals of the 'rider'.

===Types===

There are various "''-trope''" BEAMbots, which attempt to achieve a specific goal. Of the series, the phototropes are the most prevalent, as light-seeking would be the most beneficial behaviour for a solar-powered robot.

* Audiotropes react to sound sources.
** ''Audiophiles'' go towards sound sources.
** ''Audiophobes'' go away from sound sources.
* Phototropes ("light-seekers") react to light sources.
** ''Photophiles'' (also ''Photovores'') go toward light sources.
** ''Photophobes'' go away from light sources.
* Radiotropes react to [[radio frequency]] sources.
** ''Radiophiles'' go toward RF sources.
** ''Radiophobes'' go away from RF sources.
* Thermotropes react to heat sources.
** ''Thermophiles'' go toward heat sources.
** ''Thermophobes'' go away from heat sources.

===General===
BEAMbots have a variety of movements and positioning mechanisms. These include: 
* ''Sitters'': Unmoving robots that have a physically passive purpose.<ref>Seale, Eric, "''[http://www.solarbotics.net/bestiary/1100_sitter.html Sitters]''". The EncycloBEAMia, 2003.</ref>
** Beacons: Transmit a signal (usually a navigational blip) for other BEAMbots to use.
** Pummers : Display a "light show" or a pattern of sounds. Pummers are often nocturnal robots that store solar energy during the day, then activate during the night.<ref> Seale, Eric, "''[http://www.solarbotics.net/bestiary/1120_pummer.html Pummers]''". The EncycloBEAMia, 2003.</ref>
** Ornaments : A catch-all name for sitters which are not beacons or pummers. Many times, these are mostly [[electronic art]].<ref>Seale, Eric, "''[http://www.solarbotics.net/bestiary/1130_ornament.html Ornaments]''". The EncycloBEAMia, 2003</ref>
* ''Squirmers'': Stationary robots that perform an interesting action (usually by moving some sort of limbs or appendages).<ref>Seale, Eric, "''[http://www.solarbotics.net/bestiary/1200_squirmer.html Squirmers]''". The EncycloBEAMia, 2003.</ref>
** Magbots: use magnetic fields for their mode of animation.
** Flagwavers:  Move a display (or "flag") around at a certain frequency.
** Heads: Pivot and follow some detectable phenomena, such as a light (These are popular in the BEAM community. They can be stand-alone robots, but are more often incorporated into a larger robot.).<ref>Seale, Eric, "''[http://www.solarbotics.net/bestiary/1230_head.html Heads]''". The EncycloBEAMia, 2003.</ref>
** Vibrators: Use a small pager motor with an off-centre weight to shake themselves about.
* ''Sliders'': Robots that move by sliding body parts smoothly along a surface while remaining in contact with it.
** Snakes: Move using a horizontal wave motion.
** Earthworms: Move using a [[longitudinal wave]] motion.
* ''[[Crawler (BEAM)|Crawler]]s'': Robots that move using tracks or by rolling the robot's body with some sort of appendage. The body of the robot is not dragged on the ground.
** Turbots: Roll their entire bodies using their arms or flagella.
** Inchworms: Move part of their bodies ahead, while the rest of the chassis is on the ground.
** Tracked robots: Use tracked wheels, like a [[tank]].
* ''Jumpers'': Robots which propel themselves off the ground as a means of locomotion.
** Vibrobots: Produce an irregular shaking motion moving themselves around a surface.
** Springbots: Move forward by bouncing in one particular direction.
* ''Rollers'': Robots that move by rolling all or part of their body.
** Symets: Driven using a single motor with its shaft touching the ground, and moves in different directions depending on which of several symmetric contact points around the shaft are touching the ground.
** [[Solarroller]]s: Solar-powered cars that use a single motor driving one or more wheels; often designed to complete a fairly short, straight and level course in the shortest amount of time.
** Poppers: Use two motors with separate [[Solar Engine|solar engine]]s; rely on differential sensors to achieve a goal.
** Miniballs: Shift their [[Center of mass|centre of mass]], causing their spherical bodies to roll.
* ''Walkers'': Robots that move using legs with differential ground contact. BEAM walkers generally use [[Nv network]]s and are not programmed in any way—they walk and respond to terrain via resistive input from their motors.
** Motor Driven: Use motors to move their legs (typically 3 motors or less).
** Muscle Wire Driven: use [[Nitinol]] (nickel - [[titanium alloy]]) wires for their leg actuators.
* ''Swimmers'': Also called aquabots or aquavores. Robots that move on or below the surface of a liquid (typically water).<ref>Seale, Eric, "''[http://solarbotics.net/bestiary/2600_swimmer.html Swimmer]''". The EncycloBEAMia, 2003.</ref>
** Boatbots: Operate on the surface of a liquid.
** Subbots: Operate under the surface of a liquid.
* ''Fliers'': Robots that move through the air for sustained periods.
** Helicopters: Use a powered rotor to provide both lift and propulsion.
** Planes: Use fixed or flapping wings to generate lift.
** Blimps: Use a neutrally-buoyant balloon for lift.
* ''Climbers'': Robot that moves up or down a vertical surface, usually on a track such as a rope or wire.