Saturday, November 21, 2015

Homodruino: The Biped Robot

by J.B. Wylzan

HOMODRUINO®

BING - The Talking Robot



BING is an experimental Biped Nuerotronic Homodruino Geeko. He is the first prototype among the series of my autonomous Homodruinos biped robots. Right now, he is experiencing lots of trial and error modular programming procedures that will calculate his walking motions with only four servos as his DoF. ( I need at least 17 servos to make a well designed autonomous robot). I am also designing a structural compartment that will represent his body and will house the arduino board, the 9v battery and his sonic head. For the meantime, I am using an office stamp as his body, rubber bands to hold everything in one piece, and some fasteners for his legs. I am writing as well a simple sketch for you guys to enjoy with some voice implementation. If you want to keep on experimenting, you can use my sketch  below as a starter. Play around with the numbers and be fascinated. Have fun building and programming Bing !!!


Hardware:
5 microservos 
1 ultrasonic (eyes)
2 fasteners (feet and hips)
1 rubber stamp(body)
connecting wires
breadboard
Arduino R3 UNO board


Block Diagram:



Note: Same schematic. The only difference is you are adding 3 more servos. If you don't want to complicate matters, you may remove the RGB and push button circuitry.

ARDUINO SKETCH:

Code # 28:
/* ===============================================================
      Project 28: Homodruino: The Biped Robot
      Author: J. B. Wylzan with some help from the Arduino community
      Website: http://www.ihackrobot.blogspot.com
      Abstract: Build an autonomous Biped Robot.
================================================================== */

#include <Servo.h>

int x= 1000       ///change to 200 for dancing
Servo leftFoot;
Servo leftHip;
Servo rightHip;
Servo rightFoot;

void setup()
{
  leftFoot.attach(4);
  leftHip.attach(5);
  rightHip.attach(6);
  rightFoot.attach(7);
}

void loop()
{
  stop();
  forward();
}

void stop(){
  leftFoot.write(90);    
  leftHip.write(90);
  rightHip.write(90);
  rightFoot.write(90);
  delay(x);
}

void forward(){
 leftFoot.write(80);    
 rightFoot.write(70);  
 leftHip.write(90);    
 delay(x);
  rightHip.write(90);  
  leftFoot.write(70);    
  rightFoot.write(80);  
// delay(x);

}

/* ================================================================== */

Challenge: 
Create the robot with an ultrasonic sensor attached on its body.
Make Bing dance, march, walk sideways, jog and walk backward.

Actual Layout:



Procedure:
1. Build the prototype as shown above
2. Run the Arduino Interface
3. Select File > New
4. Copy Code #28 above
5. Paste Code #28
6. Click File > Save
7. Click Verify
8. Click Upload
9. Robot will move slowly forward or dance.





Disclaimer:  We shall not be liable for any loss or damage of whatever nature - direct, indirect, consequential, or otherwise - which may arise as a result of your use of any information on this website. However, if you are interested in using any of the projects for personal or educational purposes, please inform the author by email. 

Public Domain Notice: Copyright (c) 2000. All rights reserved. This article is part of a book entitled iHackRobot. Copies are welcome to be shared or distributed publicly as long proper citations are observed. Please cite as follows: A Journal of a Creative Mind, Joey Lawsin, 1988, USA.


"The Last Human on Earth will no longer be Human." ~ Joey Lawsin
================================================================== 
The Homotronics® and Homodruinos® logos are registered trademarks.
Copyright Biotronics© Inc. iHackRobot®. All Rights Reserved.
Patent Pending. 2000 © ®
 ================================================================== 











No comments:

Post a Comment