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Insectronics

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ISBN-10: 0071412417

ISBN-13: 9780071412414

Edition: 2003

Authors: Karl Williams

List price: $19.95
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Description:

* This innovative project book offers step-by-step guidance on building a six-legged insect-like walking robot * Uses inexpensive off-the-shelf parts * Discusses PIC programming (the preferred microcontroller for amateur robotics), use of sensors, and robot intelligence * Software chapter covers coordinating the servo motors for walking, monitoring the sensors, and the output and control of sound and light * Shows how to give your robot unique "personalized" features
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Book details

List price: $19.95
Copyright year: 2003
Publisher: McGraw-Hill Professional Publishing
Publication date: 11/5/2002
Binding: Paperback
Pages: 272
Size: 7.25" wide x 9.00" long x 1.00" tall
Weight: 1.232
Language: English

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