Amphibionics: Build Your Own Biologically Inspired Reptilian Robot

This work provides the hobbyist with detailed mechanical, electronic, and PIC microcontroller knowledge needed to build and program a snake, frog, turtle, and alligator robots. It focuses on the construction of each robot in detail, and then explores the world of slithering, jumping, swimming, and walking robots, and the artificial intelligence needed with these platforms.

Contents 

Introduction
   A Brief History
   How amphibians achieve locomotion
   Software control algorithms
   Stages of Construction
   Mechanical Construction
   Theory and construction of Various Sensors
   A study of the PIC Microcontroller
   Programming
    Coordinating the servos for walking
    Monitoring the sensors
    Output of sound
    Controlling light-emitting diodes
    Making sure the robots display lifelike behavior
   Artificial Intelligence Experiments
   Individual Amphibian Projects
    Snake
    Frog
    Turtle
    Lizard
   Adding an Ultrasonic Rangefinding Sensor
   Mapping out rooms
   Focusing on Narrow Objects
   Interfacing a Model Airplane Radio Transmitter
   Using the Controller Board to Give the Robots Remote Control
   Robotic Gripper
    Mechanical Construction
    Mounting the Gripper to the Robot
    Software and Programming
   Taking it Further
    Adding Features and Improvements