REFERENCES

Andy Lindsay (2004): What is a Microcontroller, Transforming Technology: Computer Information

Arthur Norberg, Judy E. ONeil (1962 - 1982):

Processing for the Pentagon, pp. 153 169. Bannan, K.J. (2002): Watching Me, PC Magazine, 21 (13) pp 99104 Christoph Bartneck (2004) A Design-Centred Framework for Social Human-Robot Interaction, Department of Industrial Design, Eindhoven University of Technology Karl Williams (2004) Kwan-myung Kim (1994) Build Your Own Humanoid Robot. A Study on the Application Concurrent Engineering Concept in Industrial Design Practice, KAIST

Terutsugu Ando (2005)

Provisional

Classification

of

Service

Robots, JARA

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Min-ho Kim (2003)

A Study for Character Expression Method based on Physiognomy, Proceedings of the Korea Society of Design Studies Conference, pp. 98-99

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APPENDIX

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APPENDIX A PROGRAM SOURCE CODE

' {$STAMP BS2} ' {$PBASIC 2.5} 'Author: Aiwekhoe. E. Bobby 'Date : 26th September 2011 ' : Humanoid Robot Project

'DEBUG " "

btnPin1 PIN 2 btnPin2 PIN 3

'Right Knee and Ankle Pins right_kneePin PIN 12 right_anklePin PIN 13

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' 'Left Knee and Ankle Pins left_kneePin PIN 14 left_anklePin PIN 15

btnWrkSpce VAR Byte pauseTmr VAR Byte ' left_ankle_increment VAR Word left_knee_increment VAR Word right_ankle_increment VAR Byte right_knee_increment VAR Byte

counter VAR Nib maxCounter VAR Nib

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right_ankle_tmpDuration VAR Word right_knee_tmpDuration VAR Word

right_ankle_durationDec VAR Word right_knee_durationDec VAR Word

maxCounter = 4 'ankle_increment = 1 pauseTmr = 50 right_ankle_durationDec = 15 right_knee_durationDec = 20

Reset: 'PULSOUT left_kneePin, 180 PULSOUT left_anklePin, 250

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Main: PAUSE 1 ' BUTTON btnPin1, 0, 0, 0, btnWrkSpce, 0, Stand BUTTON btnPin2, 0, 0, 0, btnWrkSpce, 0, Bend ' GOTO Main

Bend: GOSUB Bend_Left_Ankle 'GOSUB Bend_Right_Ankle RETURN

Stand:
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GOSUB Straighten_Left_Ankle 'GOSUB Straighten_Right_Ankle RETURN

'Left Leg '''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''' Bend_Left_Knee: PULSOUT left_kneePin, left_knee_increment '500 is maximum 'PULSOUT right_kneePin, right_knee_increment '500 is maximum 'PAUSE pauseTmr RETURN

Straighten_Left_Knee: PULSOUT left_kneePin, -left_knee_increment '500 is maximum 'PULSOUT right_kneePin, -right_knee_increment '500 is maximum 'PAUSE pauseTmr
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RETURN

Bend_Left_Ankle: ' DEBUG HOME, "Bend" ' FOR left_ankle_increment = 190 TO 300 STEP 5 PULSOUT left_anklePin, left_ankle_increment '180 is the minimum 'PULSOUT right_anklePin, (left_ankle_increment */ 55) '180 is the minimum left_knee_increment = left_ankle_increment 'right_knee_increment = (right_ankle_increment */ 55) GOSUB Bend_Left_Knee PAUSE pauseTmr NEXT ' RETURN
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Straighten_Left_Ankle: ' DEBUG HOME, "Straighten" ' FOR left_ankle_increment = 300 TO 190 STEP 5 PULSOUT left_anklePin, left_ankle_increment '180 is the minimum PULSOUT right_anklePin, (left_ankle_increment * 5) '180 is the minimum left_knee_increment = left_ankle_increment 'right_knee_increment = (left_ankle_increment * 5) GOSUB Straighten_Left_Knee PAUSE pauseTmr NEXT ' RETURN

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' 'Right Leg '''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''' Bend_Right_Knee: ' RETURN

Straighten_Right_Knee: ' RETURN

Bend_Right_Ankle: FOR left_ankle_increment = 1130 TO 1000 STEP 5 PULSOUT right_anklePin, left_ankle_increment right_knee_increment = right_ankle_increment 'GOSUB Bend_Left_Knee
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PAUSE pauseTmr NEXT RETURN

Straighten_Right_Ankle: FOR left_ankle_increment = 1000 TO 1130 STEP 5 PULSOUT right_anklePin, left_ankle_increment right_knee_increment = right_ankle_increment 'GOSUB Bend_Left_Knee PAUSE pauseTmr NEXT RETURN

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