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Amphibionics Amphibionics 00 3/24/03 12:49 PM Page i This page intentionally left blank. Amphibionics Build Your Own Biologically Inspired Robot Karl Williams McGraw-Hill New York Chicago San Francisco Lisbon London Madrid Mexico City Milan New Delhi San Juan Seoul Singapore Sydney Toronto Amphibionics 00 3/24/03 12:49 PM Page iii Copyright © 2003 by The McGraw-Hill Companies, Inc. All rights reserved. Manufactured in the United States of America. Except as permitted under the United States Copyright Act of 1976, no part of this publication may be reproduced or distributed in any form or by any means, or stored in a database or retrieval system, without the prior written permission of the publisher. 0-07-142921-2 The material in this eBook also appears in the print version of this title: 0-07-141245-X. All trademarks are trademarks of their respective owners. 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DOI: 10.1036/0071429212 ebook_copyright 8.5 x 11.qxd 6/27/03 9:36 AM Page 1 To Laurie Amphibionics 00 3/24/03 12:49 PM Page v This page intentionally left blank. vii Introduction xv Acknowledgments xvii 1 Tools, Test Equipment, and Materials 1 2 Printed Circuit Board Fabrication 17 3 Microcontrollers and PIC Programming 25 4 Frogbotic: Build Your Own Robotic Frog 51 5 Serpentronic: Build Your Own Robotic Snake 117 6 Crocobot: Build Your Own Robotic Crocodile 191 7 Turtletron: Build Your Own Robotic Turtle 271 Summary of Contents Amphibionics 00 3/24/03 12:49 PM Page vii For more information about this title, click here. Copyright 2003 by The McGraw-Hill Companies, Inc. Click Here for Terms of Use. 8 Taking It Further 345 Bibliography 349 Index 351 Amphibionics viii Amphibionics 00 3/24/03 12:49 PM Page viii ix Introduction xv Acknowledgments xvii 1 Tools, Test Equipment, and Materials 1 Test Equipment 10 Construction Materials 12 Summary 15 2 Printed Circuit Board Fabrication 17 Summary 22 3 Microcontrollers and PIC Programming 25 Microcontrollers 25 PIC 16F84 MCU 26 PicBasic Pro Compiler 28 Contents Amphibionics 00 3/24/03 12:49 PM Page ix For more information about this title, click here. Copyright 2003 by The McGraw-Hill Companies, Inc. Click Here for Terms of Use. [...]... xv Copyright 2003 by The McGraw-Hill Companies, Inc Click Here for Terms of Use Amphibionics Amphibionics is a continuation on the theme of building biologically inspired robots introduced in Insectronics, which explored the building and experimentation of a hexapod walking insect robot The practical research detailed in Amphibionics is aimed at developing a new class of biologically inspired mobile... Controller Printed Circuit Board The Infrared Sensor Board Constructing the Infrared Sensor Circuit Board Calibration Mounting the Controller and Infrared Sensor Board 137 138 144 146 148 152 154 155 xi Amphibionics Wiring the Robot 158 Programming and Experiments with Serpentronic 164 Motion Control 171 Infrared Sensor Summary 6 177 188 Crocobot: Build Your Own Robotic Crocodile 191 Crocodilians 191... Using the Ultrasonic Range Finder 313 Distance Measurement Using an Optical Shaft Encoder 325 Fabricating the Shaft Encoder 327 Room Mapping Using the Shaft Encoder and Ultrasonic Range Finder 334 xiii Amphibionics 8 Taking It Further 345 Frogbotic 345 Serpentronic 346 Crocobot 346 Turtletron 347 Bibliography Index xiv 349 351 Introduction The robots in this book were designed to imitate biological lifeforms.. .Amphibionics Software Installation 31 Compiling a Program 35 Using the EPIC Programmer to Program the PIC 40 Testing the Controller Board 44 MicroCode Studio Visual Integrated Development Environment 45... Patti Ramseyer, Myke Predko, Roger Skubowius, and Tim Jones at Cognitive Symbolics xvii Copyright 2003 by The McGraw-Hill Companies, Inc Click Here for Terms of Use This page intentionally left blank Amphibionics This page intentionally left blank 1 Tools, Test Equipment, and Materials During the mechanical construction phase of building the robots in this book, a number of tools will be required... needed quite often when cutting, drilling, and bending aluminum Always clamp metal pieces tightly in the vise when working on 1 Copyright 2003 by The McGraw-Hill Companies, Inc Click Here for Terms of Use Amphibionics FIGURE 1.1 Hacksaw and miter box FIGURE 1.2 Band saw fitted with a metal cutting blade 2 Chapter 1 / Tools, Test Equipment, and Materials FIGURE 1.3 Work bench vise them with other tools It... circuit boards, where accuracy and straightness are important These small drill presses don’t cost much more than a good electric hand drill I added an adjustable X-Y vise to the drill press in my work3 Amphibionics FIGURE 1.4 Hand held electric drill FIGURE 1.5 A small electric drill press with an X-Y adjustable vise 4 Chapter 1 / Tools, Test Equipment, and Materials FIGURE 1.6 Aluminum-cutting endmill... often during the projects You will need to separately buy the small 1/32-inch and 3/64-inch bits that will be used to drill the component holes in the printed circuit boards FIGURE 1.7 Drill bit set 5 Amphibionics FIGURE 1.8 Various pliers, a wrench, and screwdrivers You will need an adjustable wrench (marked E in Figure 1.8), side cutters (F), pliers (G), needle nose pliers (H), a Phillips screwdriver... measuring the cutting and drilling marks on the aluminum pieces that make up each robots’ body and legs You will need a hot glue gun (Q) and glue sticks at certain points in the construction See Figure 1.12 7 Amphibionics FIGURE 1.10 Adjustable work stand and utility knife FIGURE 1.11 Soldering iron with adjustable temperature 8 Chapter 1 / Tools, Test Equipment, and Materials FIGURE 1.12 Adjustable square, . Amphibionics Amphibionics 00 3/24/03 12:49 PM Page i This page intentionally left blank. Amphibionics Build Your Own Biologically. Terms of Use. 8 Taking It Further 345 Bibliography 349 Index 351 Amphibionics viii Amphibionics 00 3/24/03 12:49 PM Page viii ix Introduction xv Acknowledgments