| Introduction | p. xi |
| Acknowledgments | p. xiii |
| A Brief History of Walking Machines | p. 1 |
| Computer Control | p. 4 |
| Summary | p. 5 |
| Walking Gaits | p. 7 |
| Stability | p. 8 |
| Adaptability | p. 8 |
| Tripod Gait | p. 8 |
| Wave Gait | p. 9 |
| Degrees of Freedom Per Leg | p. 10 |
| Summary | p. 12 |
| Tools, Test Equipment, and Materials | p. 13 |
| Test Equipment | p. 22 |
| Construction Materials | p. 24 |
| Summary | p. 26 |
| Stages of Robotic Evolution | p. 27 |
| Summary | p. 33 |
| Chassis, Legs, and Servo Mounts | p. 35 |
| Constructing the Chassis | p. 35 |
| Constructing the Middle Leg Servo Mounts | p. 39 |
| Construction of the Legs | p. 43 |
| Modifying the Servo Horns | p. 43 |
| Constructing the Legs | p. 46 |
| Constructing the Middle Leg | p. 48 |
| Assembling Servo Horns and Leg Mechanics | p. 50 |
| Centering the Servos | p. 52 |
| Attaching the Legs to the Servos | p. 53 |
| Attaching the Back Legs to the Frame | p. 55 |
| Connecting the Mechanical Linkages | p. 58 |
| Attaching the Feet and Screw Covers | p. 58 |
| Summary | p. 60 |
| The Main Controller Board | p. 61 |
| Printed Circuit Board Fabrication | p. 63 |
| Drilling and Parts Placement | p. 67 |
| Summary | p. 68 |
| The Infrared Sensor Board | p. 69 |
| Constructing the Printed Circuit Board | p. 72 |
| Drilling and Parts Placement | p. 73 |
| Calibrating the Infrared Sensor Board | p. 74 |
| Calibrating the Circuit Using a Digital Multimeter | p. 77 |
| Summary | p. 79 |
| Final Assembly | p. 81 |
| Summary | p. 87 |
| PIC Programming | p. 89 |
| Microcontrollers | p. 89 |
| PIC 16F84 MCU | p. 89 |
| PicBasic Pro Compiler | p. 92 |
| Software Installation | p. 93 |
| Compiling a Program | p. 97 |
| Using the EPIC Programmer to Program the PIC | p. 103 |
| Testing the Main Controller Board | p. 105 |
| Summary | p. 106 |
| Experiments | p. 107 |
| R/C Servo Motors | p. 107 |
| Calibrating the Servos | p. 109 |
| Calibrating the Infrared Sensors | p. 112 |
| Walking | p. 115 |
| Forward and Reverse Walking Sequence | p. 118 |
| Rotating Left and Right Walking Sequence | p. 119 |
| Infrared Module Software Analysis | p. 124 |
| Behavior-based Subsumption Architecture | p. 127 |
| Exploration with Obstacle Avoidance | p. 128 |
| Insect Search Behavior with Obstacle Avoidance | p. 137 |
| Further Experiments | p. 145 |
| Summary | p. 152 |
| Ultrasonic Range Finding | p. 153 |
| Devantech SRF04 Ultrasonic Range Finder | p. 153 |
| Theory of Operation | p. 155 |
| Connections | p. 155 |
| Basic Timing | p. 155 |
| Interfacing the SRF04 to the Robot's Controller Board | p. 157 |
| Using an LCD Serial Display | p. 160 |
| Connecting the LCD Display to the Controller Board | p. 163 |
| Testing the SRF04 Ultrasonic Ranger | p. 165 |
| Distance Represented as Tones | p. 170 |
| Room Mapping Using Sonar Range Finding | p. 178 |
| Maze Solving | p. 193 |
| Summary | p. 199 |
| Radio Remote Control | p. 201 |
| Interpreting Signals from the Radio Receiver | p. 206 |
| Remote Control | p. 212 |
| Summary | p. 231 |
| Adding a Robotic Gripper | p. 233 |
| Assembling the Parts | p. 241 |
| Mounting the Gripper to the Robot | p. 244 |
| Software | p. 246 |
| Summary | p. 257 |
| Taking It Further | p. 259 |
| Summary | p. 262 |
| Bibliography | p. 263 |
| Index | p. 265 |
| Table of Contents provided by Syndetics. All Rights Reserved. |
