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| Introduction | |
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| Acknowledgments | |
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| A Brief History of Walking Machines | |
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| Computer Control | |
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| Summary | |
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| Walking Gaits | |
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| Stability | |
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| Adaptability | |
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| Tripod Gait | |
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| Wave Gait | |
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| Degrees of Freedom Per Leg | |
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| Summary | |
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| Tools, Test Equipment, and Materials | |
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| Test Equipment | |
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| Construction Materials | |
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| Summary | |
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| Stages of Robotic Evolution | |
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| Summary | |
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| Chassis, Legs, and Servo Mounts | |
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| Constructing the Chassis | |
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| Constructing the Middle Leg Servo Mounts | |
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| Construction of the Legs | |
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| Modifying the Servo Horns | |
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| Constructing the Legs | |
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| Constructing the Middle Leg | |
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| Assembling Servo Horns and Leg Mechanics | |
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| Centering the Servos | |
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| Attaching the Legs to the Servos | |
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| Attaching the Back Legs to the Frame | |
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| Connecting the Mechanical Linkages | |
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| Attaching the Feet and Screw Covers | |
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| Summary | |
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| The Main Controller Board | |
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| Printed Circuit Board Fabrication | |
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| Drilling and Parts Placement | |
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| Summary | |
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| The Infrared Sensor Board | |
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| Constructing the Printed Circuit Board | |
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| Drilling and Parts Placement | |
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| Calibrating the Infrared Sensor Board | |
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| Calibrating the Circuit Using a Digital Multimeter | |
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| Summary | |
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| Final Assembly | |
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| Summary | |
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| PIC Programming | |
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| Microcontrollers | |
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| PIC 16F84 MCU | |
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| PicBasic Pro Compiler | |
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| Software Installation | |
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| Compiling a Program | |
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| Using the EPIC Programmer to Program the PIC | |
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| Testing the Main Controller Board | |
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| Summary | |
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| Experiments | |
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| R/C Servo Motors | |
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| Calibrating the Servos | |
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| Calibrating the Infrared Sensors | |
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| Walking | |
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| Forward and Reverse Walking Sequence | |
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| Rotating Left and Right Walking Sequence | |
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| Infrared Module Software Analysis | |
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| Behavior-based Subsumption Architecture | |
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| Exploration with Obstacle Avoidance | |
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| Insect Search Behavior with Obstacle Avoidance | |
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| Further Experiments | |
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| Summary | |
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| Ultrasonic Range Finding | |
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| Devantech SRF04 Ultrasonic Range Finder | |
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| Theory of Operation | |
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| Connections | |
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| Basic Timing | |
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| Interfacing the SRF04 to the Robot's Controller Board | |
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| Using an LCD Serial Display | |
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| Connecting the LCD Display to the Controller Board | |
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| Testing the SRF04 Ultrasonic Ranger | |
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| Distance Represented as Tones | |
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| Room Mapping Using Sonar Range Finding | |
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| Maze Solving | |
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| Summary | |
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| Radio Remote Control | |
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| Interpreting Signals from the Radio Receiver | |
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| Remote Control | |
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| Summary | |
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| Adding a Robotic Gripper | |
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| Assembling the Parts | |
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| Mounting the Gripper to the Robot | |
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| Software | |
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| Summary | |
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| Taking It Further | |
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| Summary | |
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| Bibliography | |
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| Index | |