Stiquito: Advanced Experiments with a Simple and Inexpensive Robot
The Stiquito robot is a small, inexpensive, six-legged robot that is intended for use as a research and educational tool. This book describes how to assemble and build Stiquito, provides information on the design and control of legged robots, illustrates its research uses, and includes the robot kit. The experiments in the text lead the reader on a tour of the current state of micro-robotics research. The hobbyist with some digital electronics background will also find this book challenging. The book includes all materials needed to build the Stiquito robot. You need only tools (hobby knife, pliers) and a battery to complete the robot. The book begins with an introduction that describes the birth of Stiquito. The chapters that follow describe the building process, its modifications, and its increased load capacity. Other chapters examine designs for simple controllers to enhance the functionality of the robot and describe software and hardware designs for performing cooperative, intelligent operations. In addition, the book examines further research on the role of logic in a mobile robot's sensors, control, and locomotion; Stiquito's platform for AI; and simulation of a robot guided by vision. The book concludes with a discussion of the future for nitinol- propelled walking robots. Contents: Preface - Stiquito Introduction and History - Building Walking Robots - Control of Walking Robots - Using Stiquito for Research - The Future of Nitinol-Propelled Robots - Bibliography - Appendices 328 pages. 7" x 10" Hardcover. November 1997. ISBN 0-8186-7408-3.
Preface - by James M. Conrad Chapter 1: An Introduction to Stiquito, the Book, and the Kit by James M. Conrad Chapter 2: Stiquito: A Small, Simple, Inexpensive Hexapod Robot by Jonathan W. Mills Chapter 3: Building Stiquito II and Tensipede by Jonathan W. Mills Chapter 4: Increasing Stiquito's Loading Capacity by John K. Estell, Thomas A. Owen, and Craig A. Szczublewski Chapter 5: Boris by Roger G. Gilbertson Chapter 6: A PC Based Controller for Stiquito Robots by Jonathan W. Mills Chapter 7: A M68HC11 Microcontroller-Based Stiquito Controller by James M. Conrad Nanjundan Mohon Chapter 8: A Microcontroller-Based Stiquito Colony Communications System by James M. Conrad, Gregory L. Evans, and Joyce A. Binum Chapter 9: A General Purpose Controller for Stiquito by Shyamsundar Pullela Chapter 10:SCORPIO: Hardware Design by John K. Estell, Timothy A. Muszynski, Thomas A. Owen, and Steven R. Snodgrass Chapter 11:SCORPIO: Software Design by John K. Estell, Christopher A. Baumgartner, and Quan D. Luong Chapter 12: Lukasiewicz' Insect: The Role of Continuous-Valued Logic in a Mobile Robot's Sensors, Control, and Locomotion by Jonathan W. Mills Chapter 13: Stiquito, A Platform for Artificial Intelligence by Matthew C. Scott Chapter 14: Cooperative Bevaviors of Autonomous Mobile Robots by Susan A. Mengel, James M. Conrad, Roger Moore, and Lance Hankins Chapter 15: The Simulation of a Six-Legged Autonomous Robot Guided by Vision by Paulo W.C. Maciel Chapter 16: The Future for Nitinol-Propelled Walking Robots by Mark Tilden Appendix A: Biographies of Authors Appendix B: An Analog Driver Circuit for Nitinol-Propelled Walking Robots Appendix C: Sources for Materials for Stiquito (Yellow Pages) Appendix D: Technical Characteristics of Flexinol Actuator Wires Index
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