Newsgroups: comp.robotics
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From: boris@prodigal.psych.rochester.edu (Boris "Balboa" Goldowsky)
Subject: Stiquito - summary
Message-ID: <1993May11.152650.25721@galileo.cc.rochester.edu>
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Organization: University of Rochester - Rochester, New York
Date: Tue, 11 May 93 15:26:50 GMT
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In article <1993Apr29.052410.19721@galileo.cc.rochester.edu> I wrote:
: I saw a news article about a $10 robot, Stiquito, available from
: Indiana University.  Can someone email me details, or an address for
: more information?  I'll summarize if there's interest.

I got a couple of requests for summaries.  I got a lot of information
from Jonathan Mills; the following is excerpted from what he sent me.
I also received many other helpful replies--- thank you to all who replied.

The summary of the summary is that you can mail $10 for a kit (or get
the plans and buy the materials yourself) to make a small, sturdy,
slow-moving insect powered by wire that contracts when heated.  Brains,
like batteries, are not included, but there are many suggestions around
for how to design them, and some may soon be purchasable.

For more information, look at the FTP site, get the FAQ & tech
reports, and/or write to one of the email addresses below.

All the below is From: "Jonathan Mills" <jwmills@cs.indiana.edu>

Introduction
------------
Stiquito, a small nitinol-propelled hexapod robot, continues to 
draw interest from netters.  Because of the demand for information 
about Stiquito, the IEEE Press has invited a proposal for a 
technical volume about building and controlling the robot.  In 
turn, I am issuing a call for articles on this topic, described in 
more detail later here, and also in a separate posting.

The original Stiquito posting mentioned a second technical report, 
which is now available by anonymous ftp.  TR363b "Controllers and 
Interfaces" answers the most frequently-asked question, "How do 
you control Stiquito?"

A third technical report is available that describes and gives the 
source code for three Stiquito simulators for Silicon Graphics 
workstations.  TR363c, "SGI Graphics Workstation Simulations" 
provides a starting point for experiments with controllers and 
sensors.

These implementations are due to the efforts of (alphabetically) 
Andy Heininger, Slamet Hendry,  Paulo Maciel, Shyam Pullela, and 
Matthew Scott.  They  were supported by Willie Hunt, Steven 
Johnson, Gregory Rawlins, Pete Shirley and other members of the 
IUCS Robotics Group and the IU Computer Science Department.

To all of you who have waited for this material, thank you!

There is still more to come.  We are now designing self-contained 
Stiquitos for experiments in emergent behavior. A variety of 
sensors and communications techniques are being examined. Simple 
effectors based on Stiquito's leg have been designed, and are now 
being tested.  Reports on these topics will be announced as they 
become available.


Stiquito e-mail address
-----------------------
Since the first posting sometime in September 1992 I have received 
over 2000 e-mail messages about Stiquito.  I've tried to answer 
mail, but sometimes it gets lost in the process, for which I 
sincerely apologize.  To concentrate all the Stiquito mail in one 
place, and ensure that you receive a reply, send your mail to:

	stiquito@cs.indiana.edu

Either I or one of my graduate students will answer your messages.

This is not the Stiquito mailing list that Jon Blow of the 
Experimental Computing Facility at UC Berkeley originated and 
moderates (although answers to FAQs may be forwarded to Jon).  To 
subscribe or unsubscribe to the mailing list send your request to:

	stiquito-request@xcf.berkeley.edu

To post to the list send mail to:

	stiquito@xcf.berkeley.edu



New ftp directory structure
---------------------------
There is a revised directory structure that will handle the 
growing number of reports, programs, and design files for 
Stiquito.

When you ftp in anonymously to cs.indiana.edu (129.79.254.191) you 
should switch to the stiquito directory.  (Links to the original 
versions of TR363a are still found in /u/ftp/pub.)

/u/ftp
/u/ftp/pub
/u/ftp/pub/stiquito

The stiquito directory houses tech reports and associated files. 
STIQUITO.INFO contains current ordering information and tidbits 
that have accumulated over time.  It is updated periodically. 
Currently the following are available:

STIQUITO.INFO
tr363a.how.to.build/
tr363b.controllers/
tr363c.iris.simulator/

In tr363a.how.to.build/ are the original files, each in a separate 
directory.  STIQUITO.INFO describes how to print them:

tr363a.PostScript/
tr363a.Word4.for.Mac/
tr363a.Word4.for.PC/

The new reports are described in the next two sections.



TR363b: Controllers & Interfaces
--------------------------------

tr363b.controllers/

AI.projects/          Actel.FPGA.controller/
Parallel.interface/   Serial.interface/


TR363b is the second in a series of Stiquito technical reports.  
It contains articles that describe controllers, interfaces and 
several AI projects for Stiquito. Most files are short (less than 
50K bytes).  Set binary mode before transferring to obtain some 
Actel WorkView files intact.

----------------------------!! NOTE !!----------------------------
While anyone can read the .tex files using TeX or LaTeX, and 
hopefully print the .fig files with xfig, some design files are 
specific to the Actel design system.  We make no claims or 
endorsements about Actel or its tools.  The files are offered to 
make it easier to duplicate our work, but we cannot port the 
designs to other systems for you.  Please use the schematics 
provided to help port designs to other logic synthesis systems. 
----------------------------!! NOTE !!----------------------------

TR363b is only available electronically at present.


AI.projects/

actel.files/
8btim.sym    matt1l.sym   setreg1.cmd  vw3.plt      vw7.plt
kikme.sym    matt1r.sym   timin.cmd    vw4.plt      vw8.plt
legtim.sym   matt2l.sym   timin.sym    vw5.plt      vwave1.plt
matleg.sym   pcasm.sym    toasm.sym    vw6.plt

article.and.figures/
HIER.fig     nn9.ps       stiq.aux     test.fig
neural.fig   nn95.ps      stiq.tex     vlsi-nn.fig

Matthew Scott's article "Stiquito: A Platform for AI" contains a 
readable description of some AI projects proposed for Stiquito.  
The design for an Actel FPGA controller inspired by Randy Beer's 
work is presented in great detail. 


Actel.FPGA.controller/
README         stk.log        stk_cntr.pin      stk_leg_asm.latex
dn_cntr.01p    stk.tex        stk_leg.01p        tripod.fig
stk.aux        stk_cntr.01p   stk_leg_asm.fig  tripod.latex

Shyam Pullela built and tested an Actel FPGA controller that can 
be programmed to produce varying gaits.  The FPGA outputs must be 
amplified to drive the nitinol actuators (2N2222s work), and the 
power to the FPGA must be limited to five volts (use an LM 370-5T, 
and cut down the heat sink tab to save weight).


Parallel.interface/
parallel.tex   parallel1.fig  parallel2.fig  parallel3.fig

Andrew Heininger designed and built an inexpensive parallel PC 
interface for tethered operation of Stiquito.  By printing a 
stream of characters to the PC's printer port from simple C or 
BASIC programs, Stiquito can be made to crawl, turn, etc.


Serial.interface/

actel.files/
hhreg.1     hhshiftr.1  hhtop.cmd   hhtop.ps
hhs2p.1     hhtop.1     hhtop.out   hhtop.vsm

article.and.figures/
p2s_figure1.fig  p2s_figure3.fig  p2s_figure5.fig  p2s_figure7.fig
p2s_figure2.fig  p2s_figure4.fig  p2s_figure6.fig  par2ser.tex

Andrew Heininger and Slamet Hendry designed a serial interface to 
operate Stiquito with a thinner tether.  The interface is general, 
allowing a variety of sensors and controllers on Stiquito to be 
operated over the tether. The specification for sensor and 
controller circuits on Stiquito is given, but none have yet been 
implemented.



TR363c: SGI Graphics Workstation Simulations
--------------------------------------------

tr363c.iris.simulator/

stiquito.maze.learner/   stiquito.simple.vision/
stiquito.walking.only/


This directory contains three simulations written in 'C' by Paulo 
Maciel.  They make use of the Silicon Graphics (SGI) Graphics 
Library.  They will only run on SGI machines. The computer vision 
simulator is guaranteed to run correctly on the SGI Reality Engine 
Crimson alone.  Because the vision algorithms examine the 
processed image pixel-by-pixel, they might not work for other SGI 
machines because of the way those machines perform dithering.  
Minor modifications to the vision algorithms may be needed to make 
the program run on other SGIs.  

TR363c is only available electronically at present.


stiquito.maze.learner/
Makefile      insect.log    insectdraw.h  insectm.h
README        insect.rec    insectm.c

This directory contains the source code for the machine learning 
version of the walking robot simulation.  This version shows the 
robot walking around inside a maze in one of two operating modes:  
In the first, the robot explores the maze trying to find the 
longest path in it.  In the second operating mode, a path found 
during the discovery mode is replayed.  


stiquito.simple.vision/ 
Makefile    README      insectv.c   insectv.h   maze.dat    
vision.tex

This directory contains the source code for the computer vision 
version of the walking robot simulation.  This version shows a 
six-legged robot walking thorough a maze guided only by what it 
sees from a head mounted camera. The text of TR363c is contained 
in this directory.


stiquito.walking.only/
Makefile  README    insect.c  insect.h

This directory contains the source code for the simple version of 
the walking robot simulation, in which a six-legged robot walks 
forward on a floor and makes right/left turns.

Basic ordering info
-------------------
The Stiquito kit, instructional video, and TR363a (printed 
version) are still available at the original cost PRE-PAID in US 
dollars from the Indiana University Computer Science Department:

         Computer Science Department
         215 Lindley Hall
         Indiana University
         Bloomington, Indiana, 47405

Please make checks and money orders out to "Indiana University." 

Charges cover materials, a kitting fee, and mailing via First 
Class (US & Canada) or Airmail Printed Matter (elsewhere in the 
world).  Special handling can be arranged if paid for in advance 
(Federal Express, diplomatic pouch (:-), etc.)  All items are 
provided as a non-profit service by Indiana University. I receive 
no fee or reimbursement from these sales.

Price list:

Stiquito Kit          US$ 10         ATTN: Stiquito Kit
TR363a Instructions   US$  5         ATTN: TR 363a
Hints & Tips Video    US$ 10         ATTN: VIDEO

For example, if you purchased the TR, kit, and video then $25 US 
would be enclosed and the following line would be added to the 
address:

         ATTN: TR 363a Stiquito Kit VIDEO

An educational kit is available also.  See the following 
announcement.



Build-A-Leg tutorial package available
--------------------------------------
Teach your friends, students, and countrypersons the basics of 
nitinol design and Stiquito construction without wasting Stiquito 
kits.  A tutorial leg kit builds the essential parts of a nitinol-
actuated Stiquito leg in about one hour.  The only tool necessary 
is a pair of needle-nosed pliers.  Each leg kit contains:

     - 1 ea 25mm pre-drilled styrene rod
     - 4 ea  8mm 1/16" OD aluminum tube (2 crimps, two extra)
     - 1 ea 65mm .020" steel music wire
     - 1 ea 60mm .004" 70-deg-C Flexinol(tm) actuator wire

A tutorial package is available for $15 US PRE-PAID containing:

     - 10 leg kits
     - 25 un-copyrighted black-and-white overhead projector slide 
          masters describing nitinol design techniques, Stiquito 
          construction hints, & instructions to build the leg
     -  1 Nitinol documentation (c)1990 by Dynalloy, Inc.
          (made available with the permission of Dynalloy, Inc.)

Tutorial packages without documentation (just the leg kits) are 
available for $12 US PRE-PAID, and contain:

	- 10 leg kits

Add the following line to the address when ordering either 
tutorial package in any quantity:

         ATTN: TUTORIAL



Dynalloy, Inc. also provides kits
---------------------------------
Dynalloy, Inc., the maker of Flexinol(tm) nitinol actuator wire, 
has licensed Stiquito from Indiana University.  Quantities of 10 
or more Stiquito kits are available with an educational discount 
at a price comparable to ours.  Orders for fewer than 10 kits cost 
more because, as a business, Dynalloy must show a profit.  Call 
for current pricing.

I don't get any reimbursement for these kits, either (although IU 
takes a cut, about 50 cents per kit).  Wayne Brown, Dynalloy's 
CEO, has accommodated my request that the price be kept low for 
educators and researchers who want to use Stiquito.

         Dynalloy, Inc.
         18662 MacArthur Blvd.
         Suite #103
         Irvine, CA     92715
         (714) 476-1206



------------------------------------------------------------------
This research was funded in part by NSF Grant MIP-9010878 
"Lukasiewicz Logic Arrays" awarded to J.W. Mills, and NSF Grant 
CDA-8852304 "Incubator Laboratory Development" awarded to D. 
Gannon, G. Rawlins, and J. Smith.  NSF's support is gratefully 
acknowledged.  Standard disclaimer for opinions, etc. expressed in 
this posting.
------------------------------------------------------------------
- J. W. Mills                                           "Sic ago!"








--
Boris Goldowsky                        The only way you'll end up in a corner
                                        Is by walking in too straight of a li
boris@prodigal.psych.rochester.edu        --Claudia Schmidt                 n
57 Glasgow Street, Rochester, NY 14608                                      e
