Making Simple Robots

Making Simple Robots
Kathy Ceceri
Table of Contents
What You Need to Know . 40
Gather Your Materials 40
Directions . 41
Project: Design a Wheel-Leg Hybrid . 48
What It Does . 48
Where It Came From . 48
How It Works 49
How Does a 3D Printer Work? . 50
Making the Project . 53
Project Parameters . 53
What You Need to Know . 54
Gather Your Materials 54
Directions . 54

3. Unevolved Robots 73
   Project: Make a Swarm of Gliding Vibrobots . 77
   What Is a Vibrobot? 77
   What It Does . 77
   Where It Came From . 77
   How It Works 78
   Making the Project . 78
   Project Parameters . 78
   What You Need to Know . 79
   Project: Make a Souped-Up Solar BEAM Wobblebot . 83
   What Is a BEAM Robot? . 83
   What It Does . 83
   Where It Came From . 83
   How It Works 84
   Making The Project 84
   Project Parameters . 85
4. Robot Friends and Helpers 105
   Project: Make a Chatbot Program 107
   What Is a Chatbot? 107
   What It Does 107
   Where It Came From 107
   How It Works . 108
   Making the Project 110
   Project Parameters 112
   What You Need to Know 112
   Gather Your Materials . 112
   Project: Picture Yourself in the Uncanny Valley . 124
   What Is the Uncanny Valley? . 124
   What It Does 124
   Where It Came From 124
   iv Making Simple RobotsHow It Works 126
   Making the Project . 127
   Project Parameters 127
   What You Need to Know 127
   Gather Your Materials . 128
5. Fun, Artsy Robots 135
   Project: Make a littleBits Plotter . 136
   What Is a Plotter? . 136
   What It Does . 137
   Where It Came From 137
   How It Works . 139
   Making the Project . 140
   Project: Make FiberBot, an E-Textile Arduino Robot . 153
   What Are E-Textiles? 153
   What It Does . 154
   Where It Came From 154
   How It Works . 155
   Making the Project . 156
   Afterword: What I Learned Writing This Book . 191
   Index 195
   Indexbatteries, 20, 158, 159
   Baughman, Ray, 2
   Baxter robot (ReThink Robotics), 106
   Bayirli, Erkin, 37, 39
   BBots (Harvard), 78
   Bdeir, Ayah, 45
   Beatty Robotics, x–x
   Beatty, Camille, x
   Beatty, Genevieve, x
   Beatty, Robert, x
   BeetleBot, 84
   Biagini, Kevin, 50
   Bicalho, Chico, 73
   Big Dog robot (Boston Dynamics), 34, 127
   Bio-Inspired Robotic Laboratory (National Taiwan University), 48
   Blade Runner, vii
   Bladerunner, 126
   Block Palette (Scratch), 114
   Bob the BiPed, 50
   Boston Dynamics, 34
   Branwyn, Gareth, 103
   Breazeal, Cynthia, 105
   Bristlebots, 77, 78
   Brooklyn Aerodrome, 33
   Buechley, Leah, 154
   Buehler, William J., 7
   Burton, Tim, 164
   C
   C-3PO, vii, 105
   CAD software, 55
   Tinkercad, 56
   carbon nanotubes, 2
   Carnegie Mellon University, 23,
   111
   Case Western Reserve University, 37, 49
   Cassini spacecraft, 37
   Cheetah, 34
   circuits, 20–21
   batteries, 158
   LED Matrix controller, 160
   links for, 22
   Ohms Law, 22
   soldering, 88–90
   wires, 158
   wiring for eFabric project,
   160–169
   Citilab Smalltalk Team, 111
   Cleverbot chatbot (Cornell),
   109
   Colour Chaser, 135
   Connors, Chris, 11
   Cornell University, 109
   Crayola Model, 129
   Cubelets, 75
   Cupcake CNC, 51
   Curiosity rover, 37
   current, 20
   D
   da Vinci, Leonardo, 73
   DASH (Dynamic Autonomous
   Sprawled Hexapod), 7
   Dash Robotics DIY kit, 7
   DC (direct current), 20
   Defense Advanced Research
   Projects Agency (DARPA),
   35
   degrees of freedom, 6
   Demaine, Erik, 5, 27
   Demers, Jérôme, 84
   Der Kritzler (Norwegian Creations), 138
   dimmer switches, 44
   in littleBits plotter, 140
   DIY Mini Fume Extractor, 89
   Dörfelt, Matthias, 135
   Drake University, 109
   Drawdio, 135
   Dynalloy, 8
   how-to website, 10
   voltage requirement for
   wires, 19
   E
   e-textile Arduino robot, 153–
   189
   Adafruit tutorials, 160
   building, 159–189
   history of, 154
   links for, 155
   materials, 156–158
   mechanics of, 155
   Edgar, Emma, 33
   Edgar, Marc, 33
   Egg-Bot (Evil Mad Scientist),
   137
   Electronic Arts, Inc. (EA), 111
   Eliza chatbot, 108, 109
   Elmers Dry Erase Board, 144
   Emma Willard Mini Maker
   Faire, 33
   Evil Mad Scientist website, 79
   plotter, 137
   EyeRoll animation, 176
   F
   FabLab, 138
   Felt, Wyatt, 25, 26
   Final Fantasy: The Spirits Within (2001), 125
   Finio, Ben, 31
   FIRST Robotics Competition,
   33
   Flexinol, 8, 9
   France, Anna Kaziunas, 71
   Franklin Institute, 73
   Freeform Miller Solar Engine,
   95–97
   Fried, Limor Lady Ada, 155
   frozen smoke, 1–3, 3
   Fuller, Buckminster, 36
   196 IndexFunniest Computer Ever competition, 108
   G
   GeekDad, vii
   GeekMom, vii
   Geminoid robot (Osaka University), 125
   Getting Started with Arduino
   (Banzi), 155
   Ghazanfar, Asif, 127
   Giomi, Luca, 78
   GLaDOS chatbot, 122
   Glue Dots, 46
   Google, 34
   Graffiti Research Lab (New
   York City), 21
   graphical programming
   links for, 123
   Scratch and, 110–111
   Griffith, Saul, 23
   H
   Hanako 2 (Yoshida Dental
   Manufacturing), 125
   Hanks, Tom, 125
   Hanson Robotics, 126
   Hanson, David, 126, 126
   Hart, Vi, 27
   Harvard University, 5, 25
   BBots, 78
   Kilobots, 77
   RoboBee, 34
   TERMES robots, 76
   Hawaii Pacific University, 108
   Hayes, Gregory, 91
   heat, nitinol and, 7
   Hektor (Norwegian Creations),
   138
   Hello World programs, 122
   Hexbug, 77
   Hirshhorn Museum and Sculpture Garden (Smithsonian
   Institution), 37
   hopping frog origami, 7
   Hrynkiw, David, 83, 92, 103
   Hugo (movie), 73
   Humphrys, Mark, 109
   I
   I-Swarm, 78
   if-then-else blocks, 119
   Indiana University Department of Informatics, 126
   inflatable robot project, 23–31
   building, 26
   history of, 23–25
   links for, 31
   materials, 26
   mechanics of, 25
   Instructables, 51, 103
   integrated development environment (IDE), 154
   installing, 170
   Intel, 51
   Interaction Design Institute Ivrea, 154
   iPhone, 108
   iRobot, 23
   Ishiguro, Hiroshi, 125, 127
   Isle of Man, 49
   J
   Jansen, Theo, 74
   Jaquet-Droz, Pierre, 73
   Java, 111
   Jepson, Brian, 91
   Jimmy (Intel), 51
   Johnson, Brian David, 51
   Joseph, Sam, 108
   JunkBots, BugBots & Bots on
   Wheels (Tilden and Hrynkiw), 83, 92, 103
   K
   Kamen, Dean, 33
   Karvinen, Kimmo, 155
   Karvinen, Tero, 155
   Keepon robot (Yale), 106
   Kelly, James Floyd, 71
   Kemp, Adam, 91
   Kennedy, Erin RobotGrrl, 136
   Kilobots, 77
   kinetic furnishings, 4
   kinetic sculptures, 4
   Kismet, 105
   Kogakuin University (Japan),
   125
   L
   LabVIEW, 111
   Lang, Robert J., 10
   Learn How to Program with
   Scratch (Marji), 123
   Learn to Solder (Jepson, Moskowite, Hayes), 88
   LEDs, 20
   bar graph of, 44
   LEGO Education WeDo kit, 111
   LEGO Mindstorms, vii, 51
   programming, 111
   Leonardo robot (MIT), 105
   Levin, Stephen, 38
   Li, David, 111
   Lifelong Kindergarten group
   (MIT), 110, 135
   LilyPad components, 154, 155
   Lipson, Hod, 109
   littleBits, 45
   servos, 140
   littleBits plotter project, 136–
   153
   building, 144–152
   history of, 137
   links for, 153
   materials for, 142
   Index 197mechanics of, 139
   locomotion, 33–71
   degrees of freedom, 6
   links for, 35
   tensegrity robot project,
   36–48
   wheel-leg hybrid robot
   project, 48–71
   Loebner Prize, 107
   Loebner, Hugh, 107
   loops, 114
   Loper, 49
   Luxembourg, 135
   M
   M-Blocks, 75
   MacDorman, Karl, 126
   magic smoke, 91
   Maillardet, Henri, 73
   Make: 3D Printing: The Essential Guide to 3D Printers
   (France), 71
   Make: Arduino Bots and Gadgets (Karvinen and Karvinen), 155
   Make: Basic Arduino Projects
   (Wilcher), 155
   Make: Electronics (Platt), 91
   Make: Getting Started with
   Soldering Kit (Maker Shed),
   88
   Make: website, 10
   Maker Faires, viii
   Maker Movement, viii
   Maker Shed website, 33
   MakerBot, 50
   MakerShed, 103
   MaKey MaKey, 111, 136
   Marji, Majed, 123
   martensite phase of nitinol, 8
   Matelli, Tony, 129
   materials, 1–31
   3D printers and, 50–53
   actuated paper project, 4–
   22
   inflatable robot project, 23–
   31
   paper robotics linkbox, 16
   shrinkable plastic, 1–3
   SMA wire, 3
   McElroy, Kathryn, 154
   McKibben, Joseph L., 25
   MGonz, 109
   Miller Solar Engine, 84, 92
   Miller, Andrew, 84
   Mind, 107
   Minecraft, 55
   MIT, 5
   RoboTuna, 34
   Step by Step Chatbot
   project page, 113
   MIT Media Lab, 6, 10
   MIT Media Labs Personal Robots Group, 105
   Mitsuku chatbot, 108
   Model Magic, 129
   modular robots, 75
   Mori, Masahiro, 124, 127
   Moskowite, Tyler, 91
   motors, 100–103
   mountain folds, 17
   MouseBot, 84
   MSRox, 49
   N
   Nano robots, 77
   NASA Ames Research Center,
   37
   National Taiwan University, 48
   Needle Tower (Snelson), 36
   New York, viii
   New York City, New York, 21
   Nickel Titanium Naval Ordnance Laboratory, 7
   nitinol SMA wire, 3, 7
   austenite phase of, 7
   martensite phase of, 8
   Nomad Press, vii
   North Carolina State University, 1
   Norwegian Creations, 138
   Nuremburg, Germany, 138
   O
   Octopus Project, 3
   Ohms Law, 22
   origami, 4
   origami robots, 5
   Osaka University, 125
   OtherLab, 23
   inflatable arm, 25
   website, 1
   Owen, Ivan, 51
   P
   Pancake Bot, 51
   Paul robotic arm (Tresset), 138
   Pausch, Randy, 111
   peel-and-stick aluminum foil
   tape, 9
   Pettis, Bre, 39
   Philip K. Dick android, 126
   PLA, 51
   Platt, Charles, 91
   Pleo robot (Yale), 105
   Plotclock (FabLab), 138, 140
   plotters
   mechanics of, 140
   Traveling Salesman Problem and, 140
   Pneubots, 23
   Polar Express (2004), 125
   Ponoko, 50, 55
   pop-up illustrations, 4
   potentiometer, 44
   Princeton University, 127
   Processing, 154
   198 IndexQ
   Qi, Jie, 6, 19
   Quattroped, 48
   R
   R2-D2, vii, 105
   RadioShack, 20
   Raspberry Pi, 122
   RepRap, 50
   resistance, 22
   ReThink Robotics, 106
   Rieffel, John, 37, 39, 39
   RiSE, 34
   RoACH (Robotic Autonomous
   Crawling Hexapod), 6
   Robo Faber (Dörfelt), 135
   RoboBee, 34
   RoboBrrd robot (Kennedy),
   136
   Robohand, 51
   Robojelly, 3
   Robotics: Discover the Science
   and Technology of the Future (Ceceri), vii, 84
   RobotShop, 9
   Robotshop.com
   how-to website, 10
   RoboTuna, 34
   Roomba, 23
   Rosenbaum, Eric, 136
   Rus, Daniela, 5
   S
   safety
   9V batteries and, 9
   acetone, 53
   LiPo batteries and, 159
   overheating actuating wire,
   10
   short-circuits, 21
   soldering, 85, 89
   Sarrus linkages, 7
   sarrus linkages, 26
   School of Visual Arts, 154
   Scratch, 110–111
   Scratch Cat, 112
   Scratch Chat Bot Assignment
   worksheet, 114
   Script Area (Scratch), 114
   Sculpteo, 50
   Second Life, 55
   Segway personal transporter,
   33
   Sense M-Blocks, 75
   Shafer, Jeremy, 10
   shape memory alloy (SMA), 1
   Shapeways, 50, 55
   Shi robot, 39
   Showa University (Japan), 125
   Shrek (2001), 125
   shrinkable plastic, 1–3
   Shrinky Dinks, 1
   Sicily, 49
   silicon gripper robot, 25, 25
   Silver, Jay, 135, 135, 136
   sintering, 51
   Siri, 108
   SketchUp, 54, 71
   SMA wire, 3
   smart body, 1
   Smart Composite Microstructures, 6
   Snelson, Kenneth, 36
   Social Robotics Lab (Yale), 105
   social robots, 105–133
   chatbox, 107–123
   links for, 107
   Uncanny Valley project,
   124–133
   Solar BEAM robot project, 83–
   103
   building, 91–95
   Freeform Miller Solar Engine, 95–97
   history of, 83
   materials, 85–88
   mechanics of, 84
   motors for, 100–103
   solar panels, 98–99
   solar panels, 98–99
   Solar Wobblebot project, 84
   Solarbotics, 103
   Solarbotics Circuit Board/Solar
   Panel, 92
   Solarbotics.com, 85, 92
   solder, 88
   soldering, 88–90
   links, 91
   magic smoke, 91
   soldering iron, 88
   SparkFun website, 21, 154
   Sphero Robotic Ball, 33
   sprites, 112
   Stage (Scratch), 114
   Stan Winston Studio, 105
   Star Wars, 105
   Step by Step Chatbot project,
   107–123
   building, 112–122
   history of, 107
   links for, 110, 123
   materials, 112
   mechanics of, 108
   Scratch and, 110–111
   when two chatboxes meet,
   109–110
   Step by Step Chatbot project
   page, 113
   Strandbeests, 74
   subroutine, 118
   SunSpiral, Vytas, 37
   Super Ball Bot lander, 37
   Suzuki, Yuri, 135
   swarming robots, 76
   Sylvias Super-Awesome Maker
   Show, 137
   T
   Tech Valley Center of Gravity,
   ix
   Teng, Frank, 93
   Index 199tensegrity robot project, 36–
   48
   building, 41–48
   history of, 36
   links for, 48
   materials, 40
   mechanics of, 38
   TERMES robots, 76
   TetraSpine robot, 37, 39
   The Makerspace Workbench
   (Kemp), 91
   thermoplastic filament, 51
   Thingiverse, 51, 55
   Think M-Blocks, 75
   Throwies, 21, 21
   Tilden, Mark W., 83, 92, 103
   Tinkercad, 54, 56
   TinyDuino, 154
   Todd, Sylvia, 137
   tools for soldering, 88
   traces, 11
   transformable robots, 4
   Traveling Salesman Problem,
   140
   Tresset, Patrick, 138
   Trinket microcontroler, 155
   triskelion, 49
   Troy, New York, 33
   Turing Test, 107
   Turing, Alan, 107
   Turn Signal Jacket (Buechley),
   154
   U
   UC Berkeley Biomimetic Millisystems Lab, 6
   Uncanny Valley project, 124–
   133
   building, 128–133
   history of, 124–126
   links for, 133
   materials, 128
   mechanics of, 126
   unevolved robots, 73–103
   BEAM robot project, 83–
   103
   links for, 76, 103
   vibrobots, 77
   Union College, 37, 39
   University College, Ireland, 109
   University of Iran, 49
   University of Minnesota, 49
   University of Texas at Dallas, 2
   USBtinyISP, 170
   V
   valley folds, 17
   Van As, Richard, 51
   vertical plotter, 138
   vibrobot project, 77
   building, 79–82
   history of, 77
   links for, 82
   materials, 79
   mechanics of, 78
   Virginia Tech, 3
   voltage, 20
   W
   wall plotter, 138
   Wallace, Richard, 108
   Waseda University (Japan), 125
   WaterColorBot kit, 137
   Weizenbaum, Joseph, 108
   Wellesley College, 129
   wheel-leg hybrid robot
   project, 48–71
   3D printers and, 50–53
   building, 54–71
   history of, 48
   links for, 50
   materials, 54
   mechanics of, 49
   Wheg, 49
   White House Science Fair, 137
   Whitesides Group, 25
   Wilcher, Don, 155
   wire, solid vs. stranded, 158
   Wired.com, vii
   wires, 158
   Wood, Robert, 5
   World Maker Faire New York,
   51
   Worswick, Steve, 108
   Wowwee Robosapien toys, 83
   X
   Xbox Kinect, 111
   XinCheJian makerspace
   (Shanghai), 111
   Y
   Yale University, 105
   Yoshida Dental Manufacturing,
   125
   YouTube, x
   Tinkercad channel, 56

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