Design of a BIOLOID Scorpion Robot Chung, Jeng-Fan (鍾正方), Adviser: Prof. Jung-Shan Lin (林容杉) Department of Electrical Engineering, National Chi Nan University

Purpose –

The purpose of this project is to build and design a scorpion robot

using the BIOLOID kit and create a behavioral program to mimic

the movements of an actual scorpion

Approach –

1. Become familiar in assembling with the BIOLOID kit

2. Learn to program with the Behavior Control Programmer

3. Create and design a bio-robot

4. Design and program a scorpion robot

Results –

Fig. 1. BIOLOID scorpion

Conclusion and Future Works –

• Robot design successfully resembles a real scorpion

• Behavior is similar to a actual scorpion

• Installation of additional sensors for better object detection

• Installation of additional motors on pincer for more flexibility

Behavior Programming

1. Initial action: scorpion robot goes to its default initial position

2. Move forward: robot starts moving forward

3. Close object sensed in front: sensor input is analyzed and robot reacts accordingly

a. No close object is sensed: run step 2 (move forward)

b. Close object is sensed: jump to step 4

4. Crouch and attack: scorpion takes attacking position and performs the attack twice

5. Escape: after attack turn left or right depending on variables and run step 2 (move forward)

Fig. 7. Motion picture of attack

Fig. 3. Initial position Fig. 4. Crouching

Fig. 5. Preparing for attack Fig. 6. Attack

Scorpion Positions

Fig. 2. Flow chart of scorpion programming

Initial Action

Move Forward

Close Object

Sensed in Front?

No

Crouch and

Attack

Yes

Escape

Flow Chart