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CALEB CHUNG: Of course we could have used micro-servo motors to accomplish the motion of Pleo, but we aren’t able to use expensive motors. So we had to engineer it with a high-speed motor with high gearing and no backlash for control purposes and have it all fit within the muscle envelope of Pleo.

So what we did was go after a lot of ethology research. How do animals really handle the complexity of their environment? We built a virtual brain—a whole system that decides how Pleo will react in various situations.

CALEB CHUNG: Pleo will reset thresholds and adjust his idea of what he thinks is normal. Let’s say you get Pleo and you take him home to your shag carpet. When Pleo walks, the carpet will drag on his feet. So his force feedback sensors will realize that he is spending too much energy to walk around. Pleo will try different things to reduce the energy spent. Eventually, he will have the idea to step higher. Your Pleo compared to my Pleo will walk with a higher step.

camera-based vision system (for light detection and navigation) two microphones, binaural hearing beat detection (allows pleo to dance and listen to music) - this feature was removed but may be added on again. eight touch sensors (head, chin, shoulders, back, feet) four foot switches (surface detection) fourteen force-feedback sensors, one per joint orientation tilt sensor for body position infrared mouth sensor for object detection into mouth infrared transmit and receive for communication with other Pleos Mini-USB port for online downloads SD card slot for Pleo add-ons infrared detection for external objects 32-bit Atmel ARM 7 microprocessor (main processor for Pleo) 32-bit NXP ARM 7 sub processor (camera system, audio input dedicated processor) four 8-bit processors (low-level motor control)

Pleo Technical Specs: Ugobe LifeOS 32 bit Atmel ARM 7 microprocessor - The main processor for Pleo 16 bit sub processor - The processor dedicated to the camera system (4) 8 bit processors that provide the low-level motor control for the servos (35) Sensors including a camera custom designed to fit into Pleo’s very compact body. (4) foot-switches to detect footfalls and being picked up - assists with spatial orientation. (12) capacitive touch sensors (4) legs, (4) feet, back, shoulder, head, chin (2) microphones for directional sound detection (14) “Force” sensors, one per servo, to recognize abuse through force feedback joints. Orientation/tilt sensor IR transceiver for bidirectional data communication with other Pleos. IR interrupter for detection of objects in Pleo’s mouth (14) motors. Standard low voltage DC motors (150) gears and clutches Rechargeable NiMH battery pack USB port with mini USB connector SD/MMC memory card slot

Pleo不仅拥有内置的触摸、感光、听觉系统，还能够随着环境的改变随时“学习”，适应新环境。对于感官上的刺激，Pleo会立即做出真实的反映

Pleo同样善于表达，喜怒哀乐，皆形于色。当他感到疲劳时，它会昏昏欲睡渐渐入睡，甚至会做梦——这可是机器人过去想也不敢想的。更令人惊叹的是它们还能识别同类！但是你得当心了，因为感冒也会在它们之间传播！对了，差点忘了，它们甚至还会有见到强光就喷嚏连天的Achoo综合症。