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Line 1: {{Infobox information appliance ~~[[Image:Sbots.jpg\|thumb\|S-bot mobile robot.]]~~ \| name = S-bot \| title = The '''s-bot''' is a small (15 cm) [[Differential wheeled robot\|differential wheeled]] (with additional [[Kégresse track\|tracks]]) [[mobile robot]] developed at the LIS (Laboratory of Intelligent Systems [http://lis.epfl.ch/]) at the [[EPFL]] in [[Lausanne]], [[Switzerland]] between 2001 and 2004. Targeted to swarm robotics, a field of [[artificial intelligence]], it was developed within the Swarm-bots project, a Future and Emerging Technologies project coordinated by Prof. [[Marco Dorigo]]. Built by a small team of engineers ([[Francesco Mondada]], [[André Guignard]], [[Michael Bonani]] and [[Stéphane Magnenat]]) of the group of Prof. [[Dario Floreano]] and with the help of student projects, it is considered at the time of completion as one of the most complex and featured robots ever for its size. The s-bot was ranked on position 39 in the list of [http://www.wired.com/wired/archive/14.01/robots.html “The 50 Best Robots Ever”] (fiction or real) by the [[Wired_(magazine)\|Wired magazine]] in 2006.▼ \| aka = \| logo = \| image = Sbots.jpg \| caption = S-bot mobile robot. \| developer = LIS (Laboratory of Intelligent Systems<ref>{{cite web\|title=EPFL - LIS\|url=http://lis.epfl.ch/}}</ref>) \| manufacturer = \| family = \| type = [[robot]] \| generation = \| releasedate = <!--{{Start date\|YYYY\|MM\|DD}}--> \| lifespan = between 2001 and 2004 \| price = \| discontinued = \| unitssold = \| unitsshipped = \| media = \| os = \| power = \| soc = \| cpu = \| memory = \| storage = \| memory card = \| display = \| graphics = \| sound = \| input = \| controllers = \| camera = \| touchpad = \| connectivity = \| platform = \| service = \| dimensions = \| weight = \| topgame = \| compatibility= \| predecessor = \| successor = \| related = \| website = <!--{{URL\|example.org}}--> }} ▲The '''s-bot''' is a small (15  cm) [[Differential wheeled robot\|differential wheeled]] (with additional [[Kégresse track\|tracks]]) [[mobile robot]] developed at the LIS (Laboratory of Intelligent Systems<ref>{{cite [web\|title=EPFL - LIS\|url=http://lis.epfl.ch/]}}</ref>) at the [[École Polytechnique Fédérale de Lausanne\|EPFL]] in [[Lausanne]], [[Switzerland]] between 2001 and 2004. Targeted to swarm robotics, a field of [[artificial intelligence]], it was developed within the Swarm-bots project, a Future and Emerging Technologies project coordinated by Prof. [[Marco Dorigo]]. Built by a small team of engineers ([[Francesco Mondada]], [[André Guignard]], [[Michael Bonani]] and [[Stéphane Magnenat]]) of the group of Prof. [[Dario Floreano]] and with the help of student projects, it is considered at the time of completion as one of the most complex and featured robots ever for its size. The s-bot was ranked on position 39 in the list of ~~[http://www.wired.com/wired/archive/14.01/robots.html~~ “The 50 Best Robots Ever”] (fiction or real) by the [[~~Wired_~~Wired (magazine)\|Wired magazine]] in 2006.<ref>{{cite magazine\|last1=Capps\|first1=Robert\|title=The 50 Best Robots Ever\|url=https://www.wired.com/wired/archive/14.01/robots.html\|magazine=Wired\|issue=1\|date=January 2006\|volume=14}}</ref> == Purpose and use of the s-bot == This is a research robot, aimed at studying ~~team work~~teamwork and inter-robot communication. To do this, the s-bots have several special abilities: * Using their gripper (red in the photos), they can connect ~~together~~. Then they can, for instance, pass over gap and steps where a single robot would have failed. * Using their integrated [[force]] [[sensor]], they can coordinate to retrieve an object to a certain ___location without the use of explicit communication. This is the way [[ants]] bring preys to the nest. Of course, all other sensors and actuators, also found on other robots, can be used to do ~~team work~~teamwork such as food foraging. == Technical details == <!-- Deleted image removed: [[Image:~~Sbot_mobile_robot_gripper_closeup~~Sbot mobile robot gripper closeup.jpeg\|thumb\|Closeup of s-bot fixed gripper, used to hold and lift another robot.]] --> === General === * 12  cm diameter * 15  cm height * 660 g * 2 [[LiIon]] batteries Line 21 ⟶ 63: === Control === * 400 [[MHz]] custom [[XScale]] [[CPU]] board, 64 MB of [[random-access memory\|RAM]], 32 MB of [[flash memory]] * 12 distributed [[PIC microcontroller]] for low-level handling * Custom [[Linux]] port running Familiar * [[~~Wifi~~Wi-Fi]] [[Image:~~Sbot_mobile_robot_passing_step~~Sbot mobile robot passing step.jpeg\|thumb\|Image of the s-bot mobile robot climbing a step in the swarm-bot configuration.]] === Actuators === * 2 treels{{typo help inline\|reason=similar to streels\|date=November 2019}} * 2 treels * turret rotation * rigid gripper elevation Line 41 ⟶ 83: * position sensors on all degrees of freedom except gripper * force and speed sensors on all major degrees of freedom * 2 ~~humiditiy~~humidity sensors * 2 temperature sensors * 8 ambient light sensors around the turret * 4 [[accelerometer]]s, which allow three-[[~~Dimension\|dimensional~~dimension]]al orientation * 1 ~~640x480~~640×480 [[digital camera\|camera]] sensor. Custom optic based on spherical [[mirror]] provides omnidirectional vision * 4 [[microphones]] * 2 axis structure deformation sensors * optical barrier in grippers [[Image:~~Sbot_mobile_robot_by_night~~Sbot mobile robot by night.jpg\|thumb\|S-bot by night showing color ring.]] === LEDS === * 8 x× RGB [[Light-emitting diodes]] around the turret * red [[Light-emitting diodes]] in grippers Line 62 ⟶ 104: == Integrated software == The s-bot features a custom Linux port running the [[Familiar ~~Linux\|Familiar GNU/~~Linux]] distribution. All sensors and actuators are easily accessible through a simple [[C (programming language)\|C]] [[application programming interface\|API]]. == References == {{reflist}} * [[Francesco Mondada\|Mondada, F.]], [[André Guignard\|Guignard, A.]], [[Michael Bonani\|Bonani, M.]], Bär, D., Lauria, M. and [[Dario Floreano\|Floreano, D.]] (2003) '''SWARM-BOT: From Concept to Implementation'''. In Proceedings of the International Conference on Intelligent Robots and Systems 2003, IEEE Press. pp. 1626-1631. [http://lis.epfl.ch/publications/856.pdf PDF] [http://lis.epfl.ch/bibtex.php?ID=364 BibTeX]▼ ;Notes * [[Francesco Mondada\|Mondada, F.]], Pettinaro, G. C., [[André Guignard\|Guignard, A.]], Kwee, I., [[Dario Floreano\|Floreano, D.]], Deneubourg, J.-L., Nolfi, S. and Gambardella, L.M., Dorigo, M. (2004) '''SWARM-BOT: a New Distributed Robotic Concept'''. Autonomous Robots, special Issue on Swarm Robotics, Volume 17, Issue 2-3, September - November 2004, Pages 193 - 221. [http://lis.epfl.ch/publications/swarmbot-hardware-final-lr.pdf PDF] [http://lis.epfl.ch/bibtex.php?ID=365 BibTeX]▼ {{refbegin}} * [[Marco Dorigo]], V. Trianni, E. Sahin, T. H. Labella, R. Gross, G. Baldassarre, S. Nolfi, J.-L. Deneubourg, [[Francesco Mondada\|F. Mondada]], [[Dario Floreano\|D. Floreano]] & [[Luca Maria Gambardella\|L. M. Gambardella]] (2004). '''Evolving Self-Organizing Behaviors for a Swarm-bot'''. Autonomous Robots, 17 (2–3): 223–245. [http://lis.epfl.ch/publications/swarmbot-control-lr.pdf PDF] [http://lis.epfl.ch/bibtex.php?ID=395 BibTex]▼ ▲* [[Francesco Mondada\|Mondada, F.]], [[André Guignard\|Guignard, A.]], [[Michael Bonani\|Bonani, M.]], Bär, D., Lauria, M. and [[Dario Floreano\|Floreano, D.]] (2003) '''SWARM-BOT: From Concept to Implementation'''. In Proceedings of the International Conference on Intelligent Robots and Systems 2003, IEEE Press. pp. ~~1626-1631~~ 1626–1631. [http://lis.epfl.ch/publications/856.pdf PDF] {{Webarchive\|url=https://web.archive.org/web/20050512032954/http://lis.epfl.ch/publications/856.pdf \|date=2005-05-12 }} [http://lis.epfl.ch/bibtex.php?ID=364 BibTeX] * [http://www.swarm-bots.org/index.php?main=2&sub=21 Peer-reviewed scientific publication record]▼ ▲* [[Francesco Mondada\|Mondada, F.]], Pettinaro, G. C., [[André Guignard\|Guignard, A.]], Kwee, I., [[Dario Floreano\|Floreano, D.]], Deneubourg, J.-L., Nolfi, S. and Gambardella, L.M., Dorigo, M. (2004) '''SWARM-BOT: a New Distributed Robotic Concept'''. Autonomous Robots, special Issue on Swarm Robotics, Volume 17, Issue ~~2-3~~2–3, September - November 2004, Pages 193 - 221. [http://lis.epfl.ch/publications/swarmbot-hardware-final-lr.pdf PDF] {{Webarchive\|url=https://web.archive.org/web/20051028145309/http://lis.epfl.ch/publications/swarmbot-hardware-final-lr.pdf \|date=2005-10-28 }} [http://lis.epfl.ch/bibtex.php?ID=365 BibTeX] * [http://www.swarm-bots.org/index.php?main=2&sub=24 General public press coverage] ▲* [[Marco Dorigo]], V. Trianni, E. Sahin, T. H. Labella, R. Gross, G. Baldassarre, S. Nolfi, J.-L. Deneubourg, [[Francesco Mondada\|F. Mondada]], [[Dario Floreano\|D. Floreano]] & [[Luca Maria Gambardella\|L. M. Gambardella]] (2004). '''Evolving Self-Organizing Behaviors for a Swarm-bot'''. Autonomous Robots, 17 (2–3): 223–245. [http://lis.epfl.ch/publications/swarmbot-control-lr.pdf PDF] {{Webarchive\|url=https://web.archive.org/web/20051028154242/http://lis.epfl.ch/publications/swarmbot-control-lr.pdf \|date=2005-10-28 }} [http://lis.epfl.ch/bibtex.php?ID=395 BibTex] * Google scholar with [http://scholar.google.com/scholar?q=s-bot+mobile+robot s-bot mobile robot] ▲* [http://www.swarm-bots.org/index.php?main=2&sub=21 Peer-reviewed scientific publication record] {{Webarchive\|url=https://web.archive.org/web/20071010215548/http://www.swarm-bots.org/index.php?main=2&sub=21 \|date=2007-10-10 }} * [http://www.swarm-bots.org/index.php?main=2&sub=24 General public press coverage] {{Webarchive\|url=https://web.archive.org/web/20071007232734/http://www.swarm-bots.org/index.php?main=2&sub=24 \|date=2007-10-07 }} {{refend}} == External links == Line 85 ⟶ 130: [[Category:Multi-robot systems]] [[Category:Tracked robots]] [[Category:Micro robots]]