Robot Worm

Ho , Fu Yeap (2008) Robot Worm. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

The robot worms that will be built and programmed consist of six segments and a head, with each segment being powered by a DC servo. The segments alternate in orientation so that the first segment in a horizontal motion and the next segment move in a vertical motion. This sequence repeats itself for all six segments and the head. This gives the worm enough flexibility to move its body in a number of different ways in order to achieve locomotion, in much the same way as a biological worm. The robot is controlled by a Microchip PIC 16F84 microcontroller. The microcontroller is used to sequence the movement of each of the worm's body sections via servos. The microcontroller also monitors an infrared sensor so that the worm wiH avoid obstacles as it explores. At the end of this project, the robotic worm is expected to be able to use its segments alternate in orientation so that the first segment moves in a horizontal motion to move forward and the next segments moves in a vertical motion to change direction left or right. This gives the robotic worm enough flexibility to move its body in a number of different ways in order to achieve locomotion. The robotic worm will avoid obstacles as it explores using the infrared sensor.

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