BING - The First Homodruino

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      Article: BING - The First Homodruino Robot

      Author: J. B. Wylzan 

      Website: http://www.homodruino.blogspot.com

      Abstract: The Neurotronics and Homotronics of BING

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B.I.N.G., an acronym for Biped Intuitive aNeural Gnorics, is the 
first prototype robot among the series of my autonomous Homodruinos biped 
robots. At this time, Bing is experiencing a series of trial and errors in 
modular programming. The calculation of his walking motions called ROM (Range
of Motion) with only four servos as his DoF makes the processing time-consuming.
The robot needs at least 17 servos to make it more efficient.  A structural  
compartment that will represent his body and will house the Arduino 
microcontroller, SD21 servo shield, the NiMH battery pack, and his ultrasonic  
head are also on the drawing board. In the meantime, Bing is using an office 
stamp as his body, rubber bands to hold everything in one piece, and fasteners  
to build his legs. A simple sketch for you guys to enjoy with some voice  
implementation is posted below. If you want to keep on experimenting, you can 
use the sketch as a starter. Have fun building and programming Bing !!!.

B. I. N. G.

Hardware:
5 micro servos(joints)
1 ultrasonic (eyes)
2 fasteners (feet and hips)
1 rubber stamp(body)
connecting wires(nerves)
Arduino R3 UNO board(brain)

Block Diagram:

Source Code :

/* ===============================================================
      Project Homodruino: BING - The Biped Robot
      Author: J. B. Wylzan with libraries from the Arduino website
      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);

}

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

Actual Layout:

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

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" The Brain has its own Mind."

 ~ Joey Lawsin

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NOTICE: Articles on this site are composed of random thoughts. The transcript may not be in its final form. It may be edited, updated, or even revised in the future based on the outcomes of the author's experiments.

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

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Patent Pending. 2000 © ®  ==================================================================