Page 140 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 05 3/24/03 8:43 AM Page 119
Chapter 5 / Serpentronic: Build Your Own Robotic Snake
FIGURE 5.2
Robot snake showing
size in relation to its
human creator.

Overview of the Serpentronic Project

The robot snake that will be built and programmed in this chapter
consists of six segments and a head, with each segment being
powered by an R/C servo. The segments alternate in orientation so
that the first segment moves in a horizontal motion and the next
segment moves in a vertical motion. This sequence repeats itself
for all six segments and the head, as shown in Figures 5.3 and
5.4. This gives the snake enough flexibility to move its body in a
number of different ways in order to achieve locomotion, in much
the same way as a biological snake. The robot is controlled by a
Microchip PIC 16F84 microcontroller. The microcontroller is used
to sequence the movement of each of the snake’s body sections via
servos. The microcontroller also monitors an infrared sensor so
that the snake will avoid obstacles as it explores.

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