Amphibionics / Edition 1

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Overview


* Step-by-step plans on building 4 different creatures--snake, frog, turtle, and alligator with walking and swimming ability

* Tells you all you need for mechanical construction, programming, locomotion, remote control, and customization

* Teaches mechanical construction, electronics, PIC programming, artificial intelligence, and software control

* All are inexpensive to build with easy-to-find parts

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Product Details

  • ISBN-13: 9780071412452
  • Publisher: McGraw-Hill/TAB Electronics
  • Publication date: 4/8/2003
  • Edition description: First Edition
  • Edition number: 1
  • Pages: 388
  • Product dimensions: 0.80 (w) x 7.50 (h) x 9.25 (d)

Meet the Author

Karl Williams is an independent robotics researcher, electronics experimenter, and software developer. He is with Mitra Imaging, a leading medical imaging software company acquired by AGFA HealthCare Informatics. He is the author of Insectronics: Build Your Own Walking Robot and has written for Nuts and Volts magazine. A resident of Ontario, Canada, Karl has hosted a robotics and electronics website for four years, and received an IBM regional computer technology award for building a computer-controlled robotic arm.
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Table of Contents

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
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
Using a Programmer with MicroCode Studio 47
MicroCode Studio in Circuit Debugger 48
Summary 49
4 Frogbotic: Build Your Own Robotic Frog 51
Frogs and Toads 51
Overview of the Frogbotic Project 52
R/C Servo Motors 54
Modifying Servos for Continuous Rotation 55
Controlling a Modified Servo 66
Mechanical Construction of Frogbotic 68
Assembling the Legs 77
Attaching the Legs to the Robot's Body 82
Fabricating the Servo Mounts 84
Constructing the Front Legs 90
Leg Position Sensors 91
Wiring the Limit Switches 91
Frogbotic's Main Controller Board 94
Creating Frogbotic's Printed Circuit Board 96
Fabricating the Power Connector 98
Putting It All Together 100
Programming and Experiments with Frogbotic 103
5 Serpentronic: Build Your Own Robotic Snake 117
Snakes 117
Overview of the Serpentronic Project 119
Mechanical Construction of Serpentronic 120
Constructing the Body Sections 121
Constructing the Tail Section 130
Constructing the Head 132
Assembling the Snake's Mechanical Structure 137
Connecting the Body Sections, Tail, and Head 138
Serpentronic's Main Controller Board 144
Creating the Main Controller Printed Circuit Board 146
The Infrared Sensor Board 148
Constructing the Infrared Sensor Circuit Board 152
Calibration 154
Mounting the Controller and Infrared Sensor Board 155
Wiring the Robot 158
Programming and Experiments with Serpentronic 164
Motion Control 171
Infrared Sensor 177
Summary 188
6 Crocobot: Build Your Own Robotic Crocodile 191
Crocodilians 191
Overview of the Crocobot Project 193
Mechanical Construction of Crocobot 194
Constructing the Chassis 199
Constructing the Body Covers and Tail Section 202
Wiring the Limit Switches 209
Constructing the Legs 211
Assembling the Legs 213
The Controller Circuit Board 216
L298 Dual Full-Bridge Driver 218
Creating the Main Controller Printed Circuit Board 222
Putting It All Together 226
Constructing the Remote Control Transmitter 228
PIC 16C71 232
Creating the Remote Control Printed Circuit Board 234
Programming Crocobot 239
7 Turtletron: Build Your Own Robotic Turtle 271
Turtles and Tortoises 271
Overview of the Turtletron Project 272
The History of Robotic Turtles 273
Mechanical Construction of Turtletron 275
Assembling the Gearboxes and Attaching the Wheels 277
Electronics 283
Ultrasonic Range Finding 286
The Remote Control Transmitter 298
Programming Turtletron 300
Testing the SRF04 Ultrasonic Ranger 308
Obstacle Avoidance 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
8 Taking It Further 345
Frogbotic 345
Serpentronic 346
Crocobot 346
Turtletron 347
Bibliography 349
Index 351
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