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Battery recharging support is accomplished by ``feeding trough'' technology. When a robot needs to recharge, it proceeds to a wall on one side of the arena where two parallel horizontal plates maintain enough potential to drive the robot's recharging circuitry. Physically, the robot's grippers have contacts above and below that are positioned so that the fingers can be inserted between the parallel plates to allow recharging. This allows the current system to run indefinitely. With power-conscious safety net software, robots can interrupt the current experiment under low power conditions and recharge before completing the experiment.

Yu Uny Cao
Fri May 12 16:04:55 PDT 1995