Sensory-Equipped Robots with Reactive Behavior Gina Murphy Dept. of Computer Systems Tech. North Carolina A&T State University Greensboro, NC 27411 ggmm0118@live.com 1-336-334-7717 Sasha Cheek Dept. of Computer Systems Tech. North Carolina A&T State University Greensboro, NC 27411 sbcheek@aggies.ncat.edu 1-336-334-7717 Gina Bullock Dept. of Computational Sci & Eng. North Carolina A&T State University Greensboro, NC 27411 glbulloc@ncat.edu 1-336-334-7717 ABSTRACT This student paper reports on the current work on sensory-equipped robots with reactive behavior done for research purposes at North Carolina A&T State University. We are performing computer programming that enables a scorpion animal robot can produce reactive behavior while it is equipped with motor sensors to behave like a normal organism. Robotic sensors have been created to help the machine adapt to the environment around it. It would eventually be completely developed to where it would eventually rely on visual, proximity, and auditory sensors to control its movements. The sensors will also be programmed to give the scorpion robot human-like behavior when faced with scenarios of human error. The robot will also be capable of doing basic problem solving when it comes to figuring out how to complete a single task such as finding its way through a maze. Over time, the computer programming used to enhance the actions of the robot should make it capable of performing even more difficult tasks to test its reaction in different scenarios. The faculty advisor for the work reported here is Dr. Gina Bullock, Dept. of Computational Science and Engineering, North Carolina A&T State University, glbulloc@ncat.edu. Categories and Subject Descriptors I.2.11 [Robotics]: Distributed Robotics – sensory motors, reactive behavior. General Terms Design, Experimentation Keywords Reactive behavior; Sensors; Robotics; Control 1. INTRODUCTION Animals use their senses to receive information from the outside world to better navigate their environment. Just like animals, robots equipped with sensors can detect useful information about the world around it. Sensors used in robotics are devices that, to a degree, imitate properties of animal senses [2]. 2. TYPES OF SENSORS USED IN ROBOTIC PROJECT Some common types of sensors used in robotics position sensing, which involves the use of a potentiometer, are used in mobile robots. The distance can be estimated by counting the wheel revolutions. Another alternative is that you can use an electromagnetic device in wheel robotics to count the position of the wheel. Another type of sensor is a battery charge sensor. Battery charge sensors can signal to the user how low the power source is. Autonomous robots in a structured environment, like a home environment, can locate and plug themselves into a charging station. Autonomous robots give off various types of signals such as a noise or flicker of light before the battery dies. For example, the Rumba is an autonomous robot that is capable of performing this action as well. There are also vision sensors, which are usually cameras. These vision sensors are virtually cameras that can be programmed to sense depth around them. For example, a vision sensor can be equipped with facial recognition of a certain object or person to help identify them or perform certain tasks. Cameras can also have software downloaded into their program that detects edges and corners. Another type of sensor is found in autonomous robots is known as a proximity sensor. Proximity sensors send and receive ultrasonic signals. The time interval given from the ultrasonic signals provides the distance from the robot. These signals bounce off of objects and are received by the sensor. One type of a less commonly used proximity sensor are lasers. Since they tend to be more expensive, they are not utilized as much as ultrasonic proximity sensors. One of the primary uses for sensors is to recognize and avoid danger. Another common use is to a