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· 1: Roböcük1 circuit schematic / Roböcük1 in devre şeması
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· 3: Probug Circuit Schematic / Proböcük Devre şeması
· 4: Simplebug circuit / Simplebug devre şeması
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· 6: 6 Legged Spider Plan -- 6 Bacaklı örümcek planı
· 7: Türkçe pic programlayıcı
· 8: Minibug Schematic / Minibug devre şeması
· 9: The simple plan of a 6 legged walker / 6 bacaklı yürüyücünün basit şeması
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Özkal Özsoy

Technical hi-school, computer department(1988)

Bsc, electronical engineering in ITU (1993)
Msc, electronical engineering in BU (1996)
Bsc, Industrial Design in MSU
Msc, Industrial Design in MSU (2000)

Taking a PhD course on industrial design now.

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· Proböcük ve Cırcırböceği kitlerimizi nasıl monte edeceksiniz?
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Top Links / Favori weblinklerimiz
· 1: IR Range Detector Kızılötesi mesafe algılama
· 2: Pic 16F84 Mikrokontrolör
· 3: Elektronik Dünyası
· 4: Pic 16F877 Mikrokontrolör
· 5: Robot Schematics
· 6: Eproje Elektronik & Mikrocontroller
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· 10: Ancient Robots / Eski Robotlar

Plywood Biped 'BIGFOOT' (source code & circuit schematic are added)
Posted on Monday, April 28 @ 08:14:21 EDT
Topic: Ayaklı Robotlar
It is time to share a biped standing on my shelf for two months now. I didn't be able to find time to write an article with photos for BIGFOOT coz I'was a bit busy with my third kit fannybug's design work.

At last, here is the cute robot BIGFOOT :)

A small biped walker made of 2mm plywood. Powered by two RC servos. At this time, it has all the functionality of our "robug" kit. These are; Going ahead, detecting obstacles with its feelers and backing up, turning to the opposite direction of the obstacle and then continuing ahead. Not many, but a neat start ;)

The brain is a 16F84A microcontroller.

2 AA cells are carried in suitable battery holders on each side of the biped, 4 total batteries generating a 4.8V total voltage to power up the microcontroller and two servos. The BIGFOOT can walk around for long hours without any battery change. Power consumption of the complete system is quite low.

The feelers are constructed by using our usual way of making them. With the use of a wire ring and a guitar wire passing in the middle which is connected to the feeling protruding ahead. IF the feeler touches something, this bends the guitar wire and it touches the metal ring, resulting an electrical contact which is easy to be felt by the microcontroller.

The montage detail of the servo at the front. Both feet are raised or lovered by this servo (one rises while the other lowers) via two wooden sticks between the servo and the two feet.

Detail wiev of the rear servo. This servo maintains the job of pushing and pulling the legs to forward and aft while walking.

Left side wiev of BIGFOOT

Back wiev;

Perspective wiev from the back;


;  ******************************************

;   www.endtas.com/robot hobby robotics site

;  ******************************************

;              plywood biped
;               source code

;  ******************************************

;            iki ayakli yürüyücü

;  ******************************************
;         Copyright özkal özsoy 2003
;  ******************************************

; Porta 1  : ayaklari ileri geri hareket ettiren servo cikisi
; Porta 2  : ayak uclarini yukari asagi hareket ettiren servo cikisi

; Porta 1  : output for the servo which moves legs back and forth.
; Porta 2  : output for the servo which moves legtips up and down.

	list	p=16f84

	#include "P16F84.INC" ; Include header file
; bellekler

sayac1	EQU     h'000c'
sayac2	EQU     h'000d'
timer	equ	h'000e'
timsay	equ	h'000f'
statemp	equ	h'0010'
wtemp	equ	h'0011'
poyuk	equ	h'0012'
poile	equ	h'0013'
poort	equ	h'0014'

; degiskenler

sagond	equ	d'10'
sagark	equ	d'4'

saghav	equ	d'6'
solhav	equ	d'8'

solond	equ	d'4'
solark  equ	d'10'

	org	0

start	clrf	INTCON
	goto	main

intvec	movwf   wtemp           ; save off current W register contents
	movf	STATUS,w        ; move status register into W register
	movwf	statemp       	; save off contents of STATUS register

       	btfss  	INTCON,T0IF    	; Timer0 interrupt?
       	goto   	pop
	bcf    	INTCON,T0IF    	; Clear the Timer0 interrupt flag
	banksel	PORTB	
	incf	timsay
	btfsc	STATUS,Z
	incf	timer

	movfw	timsay
	subwf	poyuk,0
	btfss	STATUS,C
	goto	cik1
cik2	bsf	PORTA,0
	goto	sagaya
cik1	bcf	PORTA,0


	movfw	timsay
	subwf	poile,0
	btfss	STATUS,C
	goto	cik12
cik22	bsf	PORTA,1
	goto	ortaya
cik12	bcf	PORTA,1

	movfw	timsay
	subwf	poort,0
	btfss	STATUS,C
	goto	cik13
cik23	bsf	PORTA,2
	goto	pop
cik13	bcf	PORTA,2

	movf    statemp,w     	; retrieve copy of STATUS register
	movwf	STATUS          ; restore pre-isr  STATUS register contents
	swapf   wtemp,f
	swapf   wtemp,w         ; restore pre-isr  W register contents


	banksel TRISB
	movlw	b'11111111'	; PORTB giriş,
	movwf	TRISB

	movlw	b'00000000'	; PORTA çıkış
	movwf   TRISA

	call	init

	banksel	PORTB

	clrf	PORTB
	bcf	OPTION_REG,7	; Enable portb pullups
	movlw 	d'6'
	movwf	poyuk
	movlw 	d'6'
	movwf	poile


	call	ileri

	btfss	PORTB,4
	call	sagcarp

	btfss	PORTB,3
	call	solcarp

	goto	aprog
sagcarp	call	geri
	call	geri
	call	sola
	call	sola
solcarp	call	geri
	call	geri
	call	saga
	call	saga
saga	movlw 	d'9'		;8
	movwf	poyuk
	call	uzbekle

	movlw 	d'6'		;7
	movwf	poile
	call	uzbekle
	movlw 	d'6'		;6
	movwf	poyuk
	call	uzbekle

	movlw 	d'8'		;5
	movwf	poile
	call	uzbekle

	movlw 	d'4'		;4
	movwf	poyuk
	call	uzbekle

	movlw 	d'6'		;3
	movwf	poile
	call	uzbekle

	movlw 	d'6'		;2
	movwf	poyuk
	call	uzbekle

	movlw 	d'8'		;1
	movwf	poile
	call	uzbekle

sola	movlw 	d'8'		;1
	movwf	poile
	call	uzbekle

	movlw 	d'6'		;2
	movwf	poyuk
	call	uzbekle

	movlw 	d'6'		;3
	movwf	poile
	call	uzbekle

	movlw 	d'4'		;4
	movwf	poyuk
	call	uzbekle

	movlw 	d'8'		;5
	movwf	poile
	call	uzbekle

	movlw 	d'6'		;6
	movwf	poyuk
	call	uzbekle

	movlw 	d'6'		;7
	movwf	poile
	call	uzbekle
	movlw 	d'9'		;8
	movwf	poyuk
	call	uzbekle

ileri	movlw 	d'8'
	movwf	poile
	call	uzbekle

	movlw 	d'9'
	movwf	poyuk
	call	uzbekle

	movlw 	d'6'
	movwf	poile
	call	uzbekle

	movlw 	d'4'
	movwf	poyuk
	call	uzbekle
geri	movlw 	d'6'
	movwf	poile
	call	uzbekle

	movlw 	d'9'
	movwf	poyuk
	call	uzbekle

	movlw 	d'8'
	movwf	poile
	call	uzbekle

	movlw 	d'4'
	movwf	poyuk
	call	uzbekle

	call	bekle
	call	bekle
	call	bekle
	call	bekle
	call	bekle
init	movlw  	0x8a	;0x8F           ; Set the timer prescaler.
	banksel OPTION_REG
       	movwf  	OPTION_REG
	banksel	TMR0
	movlw  	0x00
       	movwf  	TMR0
       	bsf    	INTCON,T0IE    ; Enable the timer interrupt.
       	bsf    	INTCON,GIE     ; Enable global interrupts.
bekle	bsf	PORTA,4
	clrf 	sayac1

loop1   clrf 	sayac2

loop	incf 	sayac2
        btfss 	sayac2,7
        goto  	loop
	incf  	sayac1
	btfss 	sayac1,7		
	goto 	loop1
	bcf	PORTA,4

azbekle	movlw	d'30'
	movwf	sayac2
	movlw	d'255'
	movwf	sayac1

azbek1	decfsz	sayac1
	goto	azbek1

	decfsz	sayac2
	goto	azbek1



Come on, all the visitors, make one BIGFOOT and lets have a meeting to race them. :)



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