Page 265 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 06 3/24/03 9:02 AM Page 244
Amphibionics
PROGRAM 6.4
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motor-test.hex file
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In the next program, the robot’s four basic walking subroutines
will be developed. The robot will walk forward, turn to the left,
walk in reverse, and then turn to the right. As described earlier,
in order for a two-motor, four-legged robot to walk successfully,
it is necessary for one set of legs to be in the forward position
when the other set of legs are in motion. This ensures static sta-
bility. Otherwise, the robot does not get maximum body lift or
forward/reverse motion with each leg cycle. For example, when
the crocodile robot moves in a forward direction, the microcon-
troller first turns on the left leg motor. A small delay is intro-
duced so that the leg has time to move past the leg position

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