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most commonly used way in which crocodiles move around on land It is usually slow, although it can be modified so that the crocodile reaches speeds of 5 to 10 kilometers per hour when required Although the term belly crawl implies a certain style of locomotion, in reality there are several variations on this gait suited to different situations, and only at very slow speeds does the crocodile actually crawl, as the name suggests The high walk and gallop are unlike a reptilian gait The crocodile walks more like a mammal during the high walk The gallop is very spectacular to watch, and propels even large crocodiles away from potential danger at very high speeds The robotic crocodile in this chapter will use a method of walking on four legs where the body is raised completely above the ground

Florida Florida International University (MLA) Graduate Program in Landscape Architecture School of Architecture University Park Campus Miami, FL 33199 http:// uedu/~soa/

The robot crocodile that will be built and programmed in this chapter is controlled remotely by a human operator via a wireless data link The robot and the remote control that will be built are shown in Figure 62 The wireless data is transmitted from the controller and received by the robot using RF modules built by a company called Linx Technologies The robot achieves locomotion using four legs that are driven by a twin-motor gearbox The geared motors operate on voltages between 3 and 6 volts, making them perfect for small walking robots The motors are controlled using the L298 dual full-bridge driver The motor driver takes its control signals from a PIC 16F84 microcontroller The microcontroller will also be used to interpret the control commands sent from the hand held remote control The remote control uses a PIC 16C71 microcontroller featuring four analog to digital converters Two of the analog to digital converters will be used to monitor the position of the control stick on the remote control device This is accomplished by reading the voltages produced by the poten193

tiometers attached to the X and Y axis When the position of the control stick is determined, certain control information is transmitted to the robot Because a wireless data link is being used to remotely control the robot, the experimenter is not limited to a certain number of control channels, as are imposed when a regular model airplane remote control system is used The experimenter has the option of adding any number of other devices

The construction of the robot crocodile will begin with the mechanical construction of the body, head, and tail The parts needed for the mechanical construction are listed in Table 61

University of Florida (BLA, MLA) Department of Landscape Architecture College of Architecture 331 Architecture Bldg Gainesville, FL 32611 wwwdcpu edu/landscape/

Parts 1/16-inch thick aluminum stock 1/4-inch 6/32 6/32 1/4-inch aluminum stock 1/2-inch machine screws 1-inch machine screws

6/32 locking nuts 6/32 nylon washers Tamiya twin motor gear box Connector wire Heat-shrink tubing 4-post female header connector

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Georgia University of Georgia (BLA, MLA) Program in Landscape Architecture School of Environmental Design 609 Caldwell Hall Athens, GA 30602 wwwsedugaedu/

The body, head, and tail are constructed using 1/16-inch flat aluminum The construction of the robot crocodile will start with the assembly of the Tamiya twin motor gearbox It is available from a hobby robotics supplier called HVW Tech, and can be purchased from its Web site located at wwwhvwtechcom The gearbox is sold as a kit and needs to be assembled before it can be used Figure 63 shows the entire kit before assembly

Assembling the twin motor gearbox Take all of the parts out of the box and unfold the instruction sheet The gearbox has two possible configuration options of standard speed with a gear ratio of 58:1, or low speed with a gear ratio of 203:1 The gearbox will be assembled for use with the low speed option The first thing that needs to be done when assembling the gearbox is to position a gear hub on each of the two hexagonal output shafts, as shown in Figure 64 Thread a grub screw into each of the gear hubs with the hex wrench that was supplied with the kit Use piece M3 to set the proper position of the gear hubs, and then tighten in place with the hex wrench

Break apart each of the gearbox body sections and plastic spacers from the injection-molded piece, and trim off any rough edges with a small knife Locate the gears, eyelets, screws, and output shafts, then assemble according to Figure 65

Idaho University of Idaho (BLA) Landscape Architecture Department College of Art and Architecture Moscow, ID 83844 wwwcaauidahoedu/larch/