Workbook 3

Step03
RoboRobo
Intelligent Robot School
The world for prospective scientists,

who will lead the future
Future Robot World
Robot Education Research Group of Engineering doctors of Seoul National University
Research Society for Education of Intelligent Robot

Component List
CPU Board x 1 DC Motor Drive Board x 2 Infrared Sensor Board x 3 Contact Sensor Board x 4
Remote Control Sending Board x 1 LED Board x 4

Sound Sensor Board x 1 Voice Board x 1
Remote Control Receiving Board x 1 Buzzer Board x 1
DC Motor(100rpm) x 2 Caterpillar Wheel x 3

Servo Motor x 2 Motor Guide x 3
DC Motor(600rpm) x 2 Caterpillar x 100
Caterpillar Wheel Guide x 4

Regulable Nut x 6
Wheel x 4
Battery Case x 2 200mm axle x 2, -type Frame x 1
Wheel Guide x 5
150mm axle x 2
75mm axle x 1
Main(PCB) Frame x 2
2.6x10 Bolt x 10
Main(Plastic) Frame x 2 5mm x 6, 7mm x 13
3x6 Bolt x 150
Middle Frame(PCB) x 1 10mm x 12, 15mm x 6
3x10 Bolt x 15
Middle Frame x 8 20mm x 14, 25mm x 6 Motor Frame x 14
Nut x 150
8-holes x 6, 5 holes x 6, 30mm x 12, 35mm x 10
Nylon Nut x 20
4 holes x 6, 3 holes x 6, 40mm x 10
Cap Nut x 4
Option Frame x 6
L-type 2x1 Frame x 8 Plastic Cup x2
3Pin Cable x 14
L-type 2x2 Frame x 8 RS232 Cable x 1 Fan Wing x3
3Pin Header Pin x 4
L-type 2x6 Frame x 10 Dice x1
Safety Precaution
1. Do not put the parts in your mouth.

2. Do not operate or bend/ remove the parts forcibly.
3. Do not put your hand of moving parts.
4. Do not throw or swing components or products to people.
5. Be careful when touching sharp edge of the parts.
6. Keep away from flammable or corrosive solvents (including water)* and gases.
7. If the chemical from a battery gets into your eyes, mouth, or on your skin, follow the
instructions below.
- If the chemical gets into your eyes: Flush them thoroughly with clean water, and then
see a doctor immediately.
- If the chemical gets into your mouth: If swallowed, do not induce vomiting. See a doctor
immediately.
: If the chemical just gets into your mouth, wash out your mouth with water thoroughly.
- If the chemical gets on your skin: Wash the area thoroughly with soap and water.
8. Please assemble and operate with a guardian or a teacher.
9. Our kit includes small parts so children under three years of age are not admitted to use.
Intelligent Robot School 3

Author : Jungmi Park, Gooyong Um, Youngsuk Choi
Tranlation : Minjeong Yoo
First Edition : July 28, 2003
Pub. Date : January 14, 2010
Publisher : RoboRobo Co., LTD.
Copyright Roborobo Co., LTD. All rights reserved.
Printed in the Republic of Korea. This publication is protected by copyright, and permission must be obtained from the publisher prior to
any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, electronic, mechanical,
photocopying, recording, or likewise. For information regarding permissions, write to: RoboRobo Co., LTD.
5F RoboRobo building, 197-16, Mia-Dong Gangbuk-Gu. Seoul 142-100 South Korea
Tel : 82-2-909-5050 Fax : 82-2-917-3511
Table of Content
1. SoccerBot 1
Robot Soccer 2
How to Assemble 4
Using High-speed DC Motor 10
Shall we make it move? 12
What did you learn? 14
2. FanBot 15
Propeller 16
How to Assemble 18
IF Else Chip 24
3. DiceBot 29
Sound Sensor Board 30
How to Assemble 32
Set the Servo Motor 38
IF Else Chip 40
4. FormulaBot 45
Formula 46
How to Assemble 48
5. FlagBot 59
Flag Signal 60
How to Assemble 62
6. SweepBot 73
Cleaning Robot 74
How to Assemble 76
Using four DC Motors 82
7. BugBot 87
Walking Robot 88
How to Assemble 90
Break Chip 96
8. BoxingBot 101
Principle of the Lever 102
How to Assemble 104
9. ParrotBot 115
Voice Board 116
How to Assemble 118
Voice Chip 127
10. DogBot 131

Pet Robot 132
How to Assemble 134
11. SpaceBot 147
Space Exploration Satellite 148
How to Assemble 150
12. BattleBot 163
BattleBot 164
Todays Goal
SoccerBot is a robot that drives a ball at high speed and can

score goal by high-speed DC Motor. A lot of SoccerBots around the world
participate in Robot Soccer Game and chase the ball and play soccer. How can
this be possible? Lets learn the principle of the SoccerBot, and check the
dribble movement by using the Loop Chip. Then, divide into two teams and
play Robot Soccer Game. Which team scores more goals and wins?
-soccer: a game played by two teams of eleven players by using a round ball. Players kick the ball to each
other and try to score goals by kicking the ball into a large net.
-dribble: kicking or tapping ball quickly in order to keep it moving in soccer or other ball games
1
Robot Story
Robot Soccer
Robot Soccer Game was created in Korea in October, 1995 for the purpose of
the meeting between high-technology and the public. Robot Soccer is
combination of the most popular sport, soccer and the study of multi-object
system. Robot Soccer is attractive as entertaining audiences and making
developers to study high-tech endlessly.
The Robot Soccer Game, FIRA Robot World Cup, has grown as an
international event after held in Korea, France, Brazil, Australia and China
with participants from 51 countries, and also more than 200 robot soccer
teams exist now in Korea.
2
Look at the MiroSot, Micro-robot Soccer Tournament. It is one of the most
representative games in FIRA Cup and you can find that the robot soccer
system is mainly made up of a soccer robot, a vision system, a communication
equipment and a main computer.
The vision system, meaning viewing system, is like a human eye. An eye of
the soccer robot is a camera hanging on the overhead area of the soccer field.
Through the camera, the processor grabs the image from the camera and the
vision system performs objects detection for navigation such as a color of a ball
or direction and so on. And then, the main computer commands to each robot
based on image information of a robot and a balls location received from the
vision system. Finally, the robots commanded by the wireless communication
equipment, start to attack or defense.
Thus, robot soccer system is made to move automatically and electrically

and once the game starts, a person who controls the computer only can make
the robot simple motions like stop or restart. In other words, this is the
autonomous game played by the strategic program that is already installed,
not by users continuous control.
Reference
http://www.krsa.org
http://news.naver.com
3
How to Assemble
1. Fix the High-speed DC Motors and the Motor Frames with bolts.
2. Fix the 20mm Supports to the 8-holes-Frames with nuts.
3. Put the 8-holes-Frames on Motor Frames and fix with bolts.
4
4. Fix the Remote Control Receiving Board and the DC Motor Drive Board with bolts and
nuts.
5. Put the L-type 2x6 Frames and the Motor Frames on the Remote Control Receiving
Board and fix with bolts on the opposite side.
6. Put the L-type Frame which is fixed to the Remote Control Receiving Board on the
Support and fix with bolts.
5
7. Fix the L-type 2x6 Frames to the Battery Case with bolts and nuts.
8. Put the L-type 2x2 Frames on the L-type Frame which is fixed to the Battery Case and
fix with bolts and nuts.
9. Connect the two 40mm Supports each and then fix to the L-type Frame with bolts.
6
10. Put the L-type Frame which is fixed to the Battery Case on the Remote Control
Receiving Board and fix with bolts.
11. Put the L-type 2x6 Frames on the CPU Board and fix them to the L-type Frames and
the Supports with bolts and nuts.
12. Connect the Option Frames to the L-type 2x6 Frames and then fix end of the L-type 2x6
Frames with bolts and nuts.
7
13. Put the L-type Frame which is fixed to the Option Frames on the L-type Frame which is
connected to the Battery Case and fix with bolt+nut and cap nuts.
14. Insert 3x10 Bolts to the Motor Frame and then insert the Caterpillar Wheel Guide to
3x10 Bolts and fix with bolts.
15. Insert Wheels to the High-speed DC Motor axle.
8
16. Connect the Power cable of the Battery Case to the Power Connector of the CPU Board.
Connect the High-speed DC Motor cable to the DC Motor Drive Board A, B.
17. Connect the 3Pin Cable to OUT Port 1, 2, 3, 4 of the CPU Board and 1, 2, 3, 4 of DC
Motor Drive Board. Connect the 3Pin Cable to IN Port 7 of the CPU Board and the Remote
Control Receiving Board.
18. Bend the L-type 2x6 Frame which is connected with cap nuts slightly and let cap nuts
fly a little from the floor.
Now, you finish your SoccerBot.
9
Program
DC Motor Chip
Main Function : It sets up the speed and direction of the general DC Motor and the High-
speed DC Motor.
Application : Check the OUT Port of the CPU Board to which the High-speed DC Motor is
connected. Set the rotating direction in Direction Selecting Area and set
appropriate rotation speed between value of 0~15 in Speed Selecting Area.
Follow me!
Set the robot moves forward for 3 seconds.
10
Follow me!
Set as robot turns left while moving forward.
Follow me!
Set the Loop Chip as the robot dribble a ball turning around the left wheel and to turning
around the right wheel.
11
Shall we make it move?
1. Make it move forward when pressing the 2. Make it turn left while moving forward
button 1, move backward with button 2, when pressing the button 1, 3 and turn
turn left with button 3 and turn right left while moving backward with button 1,
with button 4. 4.
12
3. Make it dribble a ball turning the left 4. Lets divide into two teams and play
wheel and then turning the right wheel Robot Soccer Game. Which team did win? If
when pressing the Wireless Remote your robot scores the goal, show your own
Control 5. goal ceremony.
13
What did you learn?
1. There are two bicycles with different driving section as the picture below. Which colored
bicycle runs faster when paddled ten times?
Homework Teachers Check
14
Todays Goal
FanBot is a motor fan robot by using High-speed DC Motor. Lets

learn about the principle of a propeller propelling an aircraft or boat by
thrusting air or water in a desired direction when spinning and make your
own cool fan by programming diverse functions such as speed control of low,
medium, and high or rotation and so on.
- fan : air cooler, ventilator, blower, aerator

- propeller : a device with blades which is attached to a boat or aircraft
15
Robot Story
Propeller
Fan is a machine that causes a breeze, especially in order to cool by moving a current of
air. A standard device that uses air is a propeller. The propeller is a device propelling an
aircraft or boat. And Planophore, a toy air plane, was developed in 1871 in France, which
flies by propulsion force, followed by spinning the propeller with a rubber-band. This was
the first small model plane with peculiar safety which became a typical sample of the
modern aircrafts.
To understand the principle of propeller that makes an aircraft fly, you should know
about the thrust and upward force. A thrust is gained by rotation or gas spread of the
propeller and it is the same word as propulsive power that pushes or pulls aircrafts. In the
other hand, the upward force reacts in opposite direction to gravity to make the aircraft rise
in air.
16
When you examine a sectional diagram of propeller and Main Rotor (the upper blade of a
plane), you can find both of them are fairing. The two devices principle of the thrust and
upward force is similar.
The rotating rotor creates a current of air. The current causes a speed difference when
passing over the bulged upper area and under the flat bottom area. This speed difference
brings the pressure difference of the upper and bottom side. That is, pressure of upside of
the rotor decreases and pressure of the bottom side increases. If so, this creates an
additional force pointing up, so thats the total upward force exceeds the weight of a
helicopter and the helicopter can take off.
Now, lets think after turning the sectional diagram to the side. A propeller creates a
current of air again and this current causes another speed difference when spinning. This
difference force to propel right to the left and this force is a thrust. This power pulls aircraft
forward and upward force occurs from the wing based on this thrust which makes it rise in
air.
Reference
http://www.sciencetimes.co.kr
http://imagesearch.naver.com
http://search.empas.com
17
How to Assemble
1. Put the 15mm Supports on the Main Frame and fix with nuts. Put the 3-holes-Frame
and the Motor Guide on the Main Frame and fix with 3x10 bolt, bolt and nuts.
2. Fix the 7mm Supports to the Contact Sensor Boards with bolts. Put the LED Board on
the 7mm Support and fix with Nylon nuts.
3. Put the Contact Sensor Board on the Main Frame and fix with bolts and nuts. But for A1,
A13, I1, I13, put the 20mm Support under the Main Frame and fix with nuts.
18
4. Fix 3x10 Bolts to the Battery Case with nuts.
5. Fix the 20mm Support to the 8-holes-Frame with bolts and then fix the 8-holes-Frame to
the Main Frame. Put the Battery Case under the Main Frame and fix with nuts.
6. Connect two 40mm Support and then fix it to the Motor Guide with 3x10 Bolt. Put
Support that is fixed to the Main Frame on the CPU Board and fix with bolts.
19
7. Fix the Motor Frame to the Middle Frame with bolts. Fix the 30mm Supports as putting
the Middle Frame in between.
8. Fix the High-speed DC Motor to the Motor Frame that is fixed to the Middle Frame with
bolts. Fix the DC Motor and the DC Motor Drive Board to the Support that is fixed to the
Middle Frame with nuts and bolts.
9. Put the Middle Frame on the Support that is fixed to the Motor Guide and fix with Nylon
nut.
20
10. Fix the 20mm Support to the Wheel Guide and the 5-holes-Frame with a bolt and a
Nylon nut. Insert the Wheel Guide to the DC Motor axle and then fix the 5-holes-Frame
to the Support that is fixed to the 8-holes-Frame with a Nylon nut.
11. Fix the Motor Frames to the High-speed DC Motor and then put the Remote Control
Receiving Board on it and fix with bolts.
12. Put the 7mm Supports on the Wheel Guide and fix with 3x10 Bolts.
21
13. Just insert the Option Frames to the Support that is fixed to the Wheel Guide (not
fixing with bolts or nuts) and fix with 3x10 Bolts and Nylon nuts.
14. Put the Double-sided tape on the Option Frame and then affix to the Fan blades. Insert
the Wheel Guide to the DC Motor axle.
15. Connect the Power Cable of the Battery Case to the Power Connector of the CPU Board.
Connect the High-speed DC Motor and the DC Motor cable to the DC Motor Drive Board
A, B.
22
16. Connect the 3Pin Cable to OUT Port 1, 2, 3, 4 of the CPU Board and the LED Board.
Connect the 3Pin Cable to OUT Port 5, 6, 7, 8 of the CPU Board and 1, 2, 3, 4 of the DC
Motor Drive Board.
17. Connect the 3Pin Cable to IN Port 1, 2, 3, 4 of the CPU Board and the Contact Sensor
Board. Connect the 3Pin Cable to IN Port 7 of the CPU Board and the Remote Control
Receiving Board.
18. Now, you finished your FanBot.
23
Program
IF Else Chip
Main Function : It distinguishes more than two conditions (Yes, No) and determines the
sequence of execution.
Application : Yes indicates when Contact Sensor Board is pressed and No indicates
when Contact Sensor Board is not pressed. Insert the desired chip under
Yes or No
Follow me!
Set as fan blades spins continuously when pressing the Contact Sensor Board 1.
24
Follow me!
Set as the fan body turns around continuously when pressing the Contact Sensor Board 3.
Follow me!
Set so as to turn on only the yellow LED when pressing the Contact Sensor Board 1 and to
turn on only the green LED when pressing the Contact Sensor Board 2.
25
1. Try to make the fan blades spin at low 2. Try to make the fan body spin slowly
speed when pressing the Contact Sensor when pressing the Contact Sensor Board 3
Board 1 and spin at high speed when and stop when pressing 4.
pressing 2.
26
3. Try to make the fan blow at a low speed 4. Make your own fan by programming
when pressing the Contact Sensor Board 1, diverse functions like by programming
blow at a high speed when pressing 2, diverse functions such as speed control of
rotate when pressing 3 and stop all the low, medium, and high and rotation.
actions when pressing 4. (Make appropriate
LED Board light up when pressing Contact
Sensor Board.)
27
What did you learn?
1. Find the things by using a propeller and mark a complete row like a bingo game. How
many rows did you mark?
Reference
http://imagesearch.naver.com http://news.media.daum.net http://www.etbike.co.kr
28
Todays Goal
DiceBot is a robot that throws a die instead of people when

detecting clap sound. Lets learn what the sound sensor is and how it reacts to
the sound. And program a robot to throw the dice when clapping by using the
sound sensor and play the fun board game with friends!
- dice : a small cube which has between one and six spots or numbers on its sides, and
which is used in games to provide random numbers
- board game : a game which people play by moving small objects around on a board
29
Robot Story
Sound Sensor Board
A Sound Sensor is a sensor which detects sound (sound wave or vibration) as its name is.
The Sound Sensor is used in variety of places such as an acoustimeter that measures noise
levels, a lamp that can be turned on or off by the clap, a doll dancing to music and so on.
Let us find out how the Sound Sensor works first. After a microphone recognizes loud
noises or a clap, it transfers the sound input to the circuit board. If this sound input is read
as a value above a base value (that is, louder than the base), it becomes ON state. On the
contrary, if below the base value, it becomes OFF. At this point, you can check whether
sound is inputted or not through the LED on the Sound Sensor Board.
30
You can set the base value that can divide into ON and OFF, by a Variable Resistor on
the Sound Sensor Board. The more you turn the Variable Resistor anti-clockwise, the lower
the base value becomes so the Sound Sensor reacts more sensitively to the noise and
becomes ON easily at even the slightest noise.
A Microphone is not optional but must be attached to every Sound Sensor Board because
it functions to transit a sound or a sound wave into an electrical signal. For example, we
are by using a cellular phone or telephone almost every day. We can think a voice
transmitter of the phone as the microphone.
What else are we by using the Sound Sensor to which the microphone attached except the
acoustimeter or dancing doll? And what things can be used with the attached Sound Sensor?
31
How to Assemble
1. Put the Battery Case on the Main Frame and fix with bolts and nuts.
2. Fix the L-type 2x2 Frames to the CPU Board with bolts and nuts and then put the L-type
2x2 Frame on the Main Frame and assemble with bolts and nuts.
3. Fix the L-type 2x6 Frame to left side of the Servo Motor and then put the L-type 2x6
Frame and the DC Motor Drive Board on the other side and fix with bolts and nuts.
32
4. Put the L-type Frame that is fixed to the Servo Motor on the Main Frame and fix with
bolts and nuts.
5. Put the Wheel Guides on Caterpillar Wheels and fix with bolts and nuts.
6. Make two lanes by connecting 19 Caterpillars and fix them to Caterpillar Wheels.
33
7. Connect the Wheel Guides to the Main Frame by using the 40mm Supports.
8. Insert the 20mm Support to the Wheel Guides and then fix with bolt.
9. Fix the High-speed DC Motor and the Motor Frames with bolts.
34
10. Fix the Wheel Guide to the Motor Frame that is fixed to the High-speed DC Motor with
bolts.
11. Insert the Wheel Guide that is connected to the High-speed DC Motor to the Servo
Motor axle. And insert the Support that is connected to the opposite side of the Wheel
Guide to the CPU Board and fix with a Nylon nut.
12. Put the Caterpillar Wheel and the L-type 2x6 Frames on the Wheel Guide and fix with
3x10 Bolts and nuts to make the Dicebox.
35
13. Fix the Sound Sensor Board and the Motor Frames with bolts.
14. Fix the Motor Frame that is connected to the Sound Sensor Board to the CPU Board
with bolts.
15. Fix the Dicebox to the High-speed DC Motor by using 2.6x10 Bolts.
36
Connect the High-speed DC Motor cable to the DC Motor Drive Board A.
17. Connect the 3Pin Cable to OUT Port 1, 2 of the CPU Board and 1, 2 of the DC Motor
Drive Board. Connect the Servo Motor cable to OUT Port 3 of the CPU Board.
18. Connect the 3Pin Cable to IN Port 1 of the CPU Board and the Sound Sensor Board.
Now, you finished your DiceBot.
37
Program
Set the Servo Motor
Main Function : It sets the starting point and rotation position.

Application : Set a zero point and then insert the Wheel Guide on a position of setting the
starting point and Set the rotating position with the Servo Motor Chip.
Follow me!
Stand the Dicebox to put the die in.
38
IF Else Chip
Main Function : It distinguishes more than two conditions (Yes, No) and determines the
sequence of execution.
Application : Yes indicates when sound is detected, and No indicates when the sound is
not detected. Insert the desired chip under Yes or No
Follow me!
Set as the stopped Dicebox spins when it detects sound.
39
1. Make a Dicebox stand to put a die into it 2. Try to make the Dicebox spin left and
and lean it to drop the die. right to shake the die when robot detects
sound.
40
3. Try to make the Dicebox spin to shake 4. Try to play a fun board game with the
dice and then lean the Servo Motor to drop DiceBot.
Dice when the robot detects sound.
41
42
43
What did you learn?
1. Connect the name of the sensor with its correct application.
44
Todays Goal
FormulaBot is a race car robot that is controlled by the

Wireless Remote Control. Lets find out qualification to participate in a
Formula Race which is one of the biggest sport-shows and the special feature
of a formula car. By using the Wireless Remote Control to control steering
system and hold a Formula Race!
-formula: a type of car racing, in which the different types are based on the size of the cars' engines:
-steering system: equipment that changes a radius of rotating direction of the front wheel to change course
45
Robot Story
Formula
Formula is a standard of a race car such as engine displacement, tires, size of a car body
etc which are announced every year from Fdration Internationale de lAutomobile (FIA).
A Formula Race is divided into three levels internationally; F1, F3000 and F3, and
among three of them, F1 piques itself on the fastest speed. Grand Prix Race playing for the
title of World Champion is run as F1. It is held in 16 countries of Europe, Australia, Asia,
North and South Americas every year and F1 Grand Prix is one of the biggest sport shows
second in importance only to the Olympic and World Cup in the world, and it is relayed in
more than 150 countries and now more than four billion people are watching.
A Formula Car is not just a mass-produced car but the car only made for the race. For the
better race, the car body is made lower to lessen air resistance and its wheels are out-
bodied to go not reducing the speed when it turns.
46
F1 Racers drive in enormous speed. That is because they should drive 305km at the
average speed of 220km per hour for an hour and a half. The race requires a sense of speed
and strong body. The F1 race car turns the corner at such high speed that racers should
stand gravity to the side that general people cannot possibly endure.
The F1 race car cannot be driven by anybody but only racers with Super License issued
by FIA can. Why dont you challenge to be the FormulaBot Racer by using the Wireless
Remote Control?
Reference
http://terms.naver.com
47
How to Assemble
1. Connect the Option Frames and Middle Frames with the L-type 2x2 Frames. Connect the
end to end of the Middle Frame on which the Option Frames are fixed by using the 4-holes-
Frame.
2. Fix the 5-holes-Frames and the Middle Frames, which the Option Frames are fixed, to the
Main Frame with bolts and nuts. Fix the 20mm Supports to the 5-holes-Frames with bolts.
3. Fix the 5mm Supports to Wheels with bolts and then fix the L-type 2x6 Frames to the 5mm
Supports with Nylon nuts. Fix the 7mm Supports to L2x6 Frames with bolts.
48
4. Connect the Motor Guide to the 5-holes-Frame and then fix the 5-holes-Frame to the
30mm Supports with Nylon nuts. Connect the 7mm Support to the 4-holes-Frames and
then fix the 4-holes-Frames to the 30mm Support with bolts.
5. Fix the 30mm Supports to the Main Frame with bolts and then put the Servo Motor on
the 30mm Supports and fix with nuts.
6. Insert the Motor Guide that is fixed to the Small Frame to the Servo Motor. Put the L-
type Frame that is connected to Wheels on the Support that is connected to the Motor
Guide and the Support that is fixed to the Main frame and then fix with nuts.
49
7. Fix the High-speed the DC Motors and the Motor Frames with bolts.
8. Fix the Motor Frame that is fixed to the High-speed DC Motor to the Main Frame with
bolts. Twist-insert the 25mm Supports to bolts that are fixed to A13 and I13.
9. Put the Battery Case on the Support that is fixed to the Main Frame and fix 40mm
Supports. Put the Remote Control Receiving Board on the 40mm Supports and fix with
nuts.
50
10. Connect two Main Frames with 8-holes-Frames. Insert Wheels to the High-speed DC
Motor axle.
11. Connect the Main Frame and the Middle Frame with the L-type 2x6 Frame.
12. Connect the Middle Frame that is fixed to the L-type Frame and the prepared Middle
Frames with the Motor Frames.
51
13. Fix the 30mm Supports and the 15mm Supports to the -type Frame.
14. Connect the CPU Board and the DC Motor Drive Board with bolts and nuts. Put the
CPU Board on the Support that is fixed to the -type Frame and fix with bolts.
15. Fix the Support that is fixed to the -type Frame to the Main Frame with nuts.
52
Connect the High-speed DC Motor Cable to the DC Motor Drive Board A, B.
17. Connect the 3Pin Cable to OUT Port 1, 2, 3, 4 of the CPU Board and 1, 2, 3, 4 of the DC
Motor Drive Board. Connect the Servo Motor cable to OUT Port 5 of the CPU Board.
18. Connect the 3Pin Cable to IN Port 7 of the CPU Board and the Remote Control
Receiving Board.
Now, you finished your FormulaBot.
53
Program
Set the Servo Motor

Application : Set a zero point and then insert the Motor Guide on a position of Setting the
starting point and Set the radius of rotation with Servo Motor Chip.
Follow me!
Set the Servo Motor chip as a robot can move forward.
54
Follow me!
Set the Servo Motor chip as a robot can turn left.
Follow me!
Set the Servo Motor chip as a robot can turn right.
55
1. Try to make it move forward when 2. Make it turn left when pressing 1, 3 of
pressing 1 of the Wireless Remote the Wireless Remote Control and turn
Control and move backward when right when pressing 1, 4.
pressing 2.
56
3. Make it turn left while moving forward 4. Try to hold a Formula Race by
when pressing 2, 3 of the Wireless controlling the steering system with the
Remote Control and turn right while Wireless Remote Control. Who drives
moving backward when pressing 2, 4. the fastest without touching paper cup
obstacles?
57
What did you learn?
1. A picture below is a formula race car driving on the ceiling. Is it actually possible to drive
like the picture? Or impossible? What is the reason?
--------------------------------------------------------------------------------------------
--------------------------------------------------------------------------------------------
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58
Todays Goal
FlagBot is a robot that can play flag game such as the blue and
white flag game by using two Servo Motors. Lets find out the type of signals
and learn about application and communication methods of flag signaling.
How about playing blue and white flag game with friends and measure each
others quick reflex action.
-flag: a piece of cloth which can be attached to a pole and which is used as a sign, signal, or symbol
of something, especially of a particular country
-blue and white flag game : If an opponent player calls blue, another player should raise a blue flag
and if white, another should raise a white flag. The players can variously apply the calling
statement like No blue, white! or White is not needed! to make the opponents confused.
59
Robot Story
Flag Signal
According to a method of a sign, a signal is divided into a visual signal and a hearing
signal, and the visual signal is one that uses vision such as light shape color while the
hearing signal is by using hearing like sound.
Through not only the use of arm-and-hand signals but also flags, pyrotechnics, smokes
and other visual aids, these signals are widely used. Among these, a flag signal is one of the
communication methods as the visual signal by using flags.
The Flag signal is often used for military use or at work sites. Besides, a nautical signal
is firstly made in 19th century and today, it is widely used among ships mutually or
between the ship and land or between aircrafts.
60
The Flag signal can convey messages by left or right movements of a flag. A Korean
signal method has vowels and consonants, and the mean of an international signal consists
of 26 alphabets and ten numbers so the combination of those signals can be transmitted
with a variety of meanings.
To signal with flags, first, raise a J flag on the conspicuous spot as a meaning of
intension to send the flag signal. The person who saw this signal at once should raise a
replying flag at the dip, and then when he/she is ready to receive the signal, raise the flag
high. The J flag must be raised during a communication period, and can be taken down
when the communication is over.
Meanwhile, if the person raises a P flag when preparations of communication finishes, it

means This ship is ready to depart, so entire staff, be on board now please. Also, a
combination of three flags, for example, W,A,Y flags indicates Bon Voyage. Elsewhere,
there are other methods like flash light which is used for the purpose of road transportation
a railway signal night voyage a flight signal.
Reference
http://juniorengdic.encyber.com
http://100.naver.com
61
How to Assemble
1. Put the Battery Case on the Middle Frames and fix with bolts and nuts. Insert bolts to
the Middle Frame then fix with nuts and cap nuts.
2. Fix the 40mm Supports to the Battery Case with bolts. Put the L-type 2x2 Frames on the
40mm Supports and fix with nuts.
3. Fix the Servo Motors and the Motor Frames with bolts.
62
4. Put the CPU Board on the Motor Frame that is fixed to the Servo Motor and fix with
bolts.
5. Put the L-type Frame that is fixed to the Battery Case on the CPU Board and fix with
bolts.
6. Fix the 35mm Support to the CPU Board and then put the Remote Control Receiving
Board on it and fix with nuts.
63
7. Put the Buzzer Board on the Option Frame and fix with the 10mm Supports and nuts.
Put the 10mm Support on the opposite side of the Option Frame and fix with bolts.
8. Fix the Support that is fixed to the Option Frame to the CPU Board with nuts.
9. Put the Middle Frames on the Wheel Guides and fix with bolts and nuts. Put the 3-holes-
Frames on the Middle Frame and fix with bolts and nuts.
64
10. Fix the LED Boards and the 8-holes-Frames with bolts and nuts. Put the 8-holes-Frame
under the 3-holes-Frame and fix with bolts and nuts to make both arms.
11. Insert the Wheel Guides that are connected to both arms to the Servo Motor axle.
12. Insert 3x10 Bolts to the Main Frame and then insert the Caterpillar Wheel Guides to
3x10 Bolts and use bolts to fix.
65
13. Fix the 7mm Support to the Main Frame and then insert Tires between Supports and
make it as a face.
14. Put the face on the Support that is fixed to the Option Frame and fix with bolts.
15. Connect the Caterpillars then put them on the Main Frame and make them as hair
nicely.
66
Connect the Right Servo Motor cable to OUT Port 1 of the CPU Board and connect the
Left Servo Motor cable to OUT Port 2 of the CPU Board.
17. Connect the 3Pin Cable to OUT Port 3 of the CPU Board and the Buzzer Board.
Connect the 3Pin Cable to IN Port 7 of the CPU Board and the Remote Control
Receiving Board.
18. Now, you finished your FlagBot.
67
Program
Set the Servo Motor

starting point and Set the radius of rotation with Servo Motor Chip..
Follow me!
Set the Servo Motor Chip as the blue flag (green LED) and the white flag (yellow LED) are
raised as high as a shoulder of the robot.
68
Follow me!
Set the Servo Motor Chip to lift up the blue flag and white flag.
Follow me!
Set the Servo Motor Chip to put down the blue flag and white flag.
69
1. Try to make your robot lift up a white 2. Try to make your robot lift up a blue flag
flag when pressing 1 of the Wireless when pressing 3 of the Wireless Remote
Remote Control and put it down when Control and put it down when pressing 4.
pressing 2.
70
3. Try to make your robot the blue and 4. Let us play blue and white flag game to
white flags when pressing 1, 3 of the see who controls quickly by using the
Wireless Remote Control and put them Wireless Remote Control.
down when pressing 2, 4.
71
What did you learn?
1. Which one is a different type of signal from the others in the pictures below?
Reference
http://www.jin-woo.com
http://www.fifareferee.net
http://image.search.naver.com
http://search.empas.com
72
Todays Goal
SweepBot is cleaning robot that sweeps the floor spinning its

brush with the High-speed DC Motor. Lets learn how cleaning robot cleans by
itself when turned on the power and how about cleaning your room by using
the function that the brush spins faster automatically when the front Infrared
Sensor of the robot detects a trash?
-sweep: clean, brush out, remove

-brush: an object which has a large number of bristles or hairs fixed to it
73
Robot Story
Cleaning Robot
Cleaning Robot has a camera which functions as an eye of human, a driving

control system device etc so it finds where to clean by itself and clean in every
corner of the house.
As turning on the power, cleaning Robot moves to the nearest wall. While
moving along the edge of an entire room, it seizes the size of gross area and
calculates its route to clean. Or it recognizes its position and after setting its
territory, cleans the room which is divided into several zones in checkrow way.
Another method of cleaning is using supersonic waves like bats. As a
supersonic wave sensor detects some object, the robot computes the new route
to clean avoiding legs of a chair, wall and other obstacles.
74
Up-to-date cleaning robots are able to clean even under a bed and a table
because it is designed lower in height and shorter in diameter. Also these
robots can clean both hard wooden floor and carpet etc irrespective of material,
and unlike the preexisted cleaner, these can clean crossing over the doorsill.
When you attach magnetic belt at stairs or a boundary line it does not go over
the line so no worries for falling.
Dont you think it will be so convenient if you have these kinds of the robot
cleaning instead of us? Lets make a smart robot that helps people like the
cleaning robot.
75
How to Assemble
1. Put the L-type 2x6 Frames on the Middle Frames and fix with bolts and nuts.
2. Put the Motor Frames and the L-type Frames that are connected to the Middle Frames
on the Main Frame and fix with bolts and nuts.
3. Fix the Battery Case and the Main Frame by using the fixed Motor Frame in the 2nd
step and the prepared Motor Frame with bolts.
76
4. Fix the DC Motors and the Motor Frames with bolts.
5. Fix the Motor Frames that are fixed to the DC Motors to the Main Frame with bolts.
6. Connect the DC Motor Drive Boards, the Middle Frames and the L-type 2x1 Frames with
bolts and nuts. Fix the DC Motor Drive Board to the Middle Frame and the L-type 2x1
Frame that is connected to the DC Motor Drive Board to the Main Frame.
77
7. Put the 4-holes-Frames on the 8-holes-Frames and fix with the 15mm Supports, bolts
and nuts.
8. Fix the Infrared Sensor Board to the Support with nuts. Fix the 8-holes-Frame which the
Infrared Sensor Board is fixed to the High-speed DC Motor with bolts and nuts. Put the
8-holes-Frame on the High-speed DC Motor and fix with bolts and the Motor Frames.
9. Insert a Plastic Cup to a Paper Cup and then draw a line on the Plastic Cup along the
circumference of the Paper Cup.
78
10. Cut along the drawn line on the Plastic Cup with scissors. Cut to the arrow at intervals
of 0.5cm like the right picture above.
11. Press with a thumb to make the cut part spread outwards.
12. Put the Wheel Guides on the bottom of the Plastic Cups and make a hole on Plastic
Cups with sharp 2.9x10 Bolts and then fix the Wheel Guides and make brushes.
79
13. Fix the Motor Frame that is connected to the High-speed DC Motor to the Middle
Frame with bolts. Insert the brushes to the High-speed DC Motor axle.
14. Put the Wheel Guides to the Caterpillar Wheels and fix with bolts and nuts.
15. Fix 3x10 Bolts to the Middle Frame and then insert the Caterpillar Wheel Guide to the
3x10 Bolt and fix with bolts. Fix the Wheel Guides that are connected with the
Caterpillar Wheel to the DC Motor axle with 2.6x10 Bolts.
80
16. Put the CPU Board and the Remote Control Receiving Board on the Motor Frame that is fixed to
the Main Frame and fix with bolts. Connect 32 Caterpillars and make two lanes and then fix to
the Caterpillar Wheel Guide and the Caterpillar Wheel.
17. Connect the Power Cable of the Batter Case to the Power Connector of the CPU Board. Connect
the DC Motor cable to the DC Motor Drive Board A, B. Connect the High-speed DC Motor Cable
to the Right DC Motor Drive Board A, B.
18. Connect the 3Pin Cable to OUT Port 1, 2, 3, 4 of the CPU Board and the Left DC Motor Drive
Board 1, 2, 3, 4 and then connect OUT Port 5, 6, 7, 8 of the CPU Board and the Right DC Motor
Drive Board 1, 2, 3, 4. Connect the 3Pin Cable to IN Port 1 of the CPU Board and the Infrared
Sensor Board and then connect IN Port 7 of the CPU Board and the Remote Control Receiving
Board. Now, you finished your SweepBot.
81
Program
Using four DC Motors
Main Function : It helps to use four general DC Motors and the High-speed DC Motor.
Application : Connect the general DC Motor and the High-speed DC Motor to the CPU
Board and two DC Motor Drives properly.
Follow me!
Set as a robot moves forward for 3 seconds.
82
Follow me!
Set the High-speed DC Motor to spin the brush for 3 seconds to sweep trashes.
Follow me!
Set to spin the brushes slowly moving forward.
83
1. Try to make a robot move forward when 2. Try to make a slowly spinning brush
pressing 1 of the Wireless Remote start to revolve at high speed when
Control and move backward when trashes are detected by the Infrared
pressing 2, turn left when pressing 3 and Sensor Board.
turn right when pressing 4.
84
3. Try to make a robot stop all the 4. Try to clean your room by using Cleaning
movement for 3 seconds when pressing 5 Robot.
of the Wireless Remote Control.
85
What did you learn?
1. If I make a robot helping with the housework, what kind of robot can I make?
86
Todays Goal
BugBot is a robot that walks with six legs not using wheels. Let us
learn about a legged robot that walks like an insect or a spider with many legs
and find out the Application of Break Chip that stops endless repetition. Let
us run a race to the foot of the goal to see which of us can go faster.
-bug : An insect or similar organism, such as a centipede or an earwig.

-break: To interrupt or cease an activity
87
Robot Story
Walking Robot
Researchers of a walking robot have a strong interest in arthropod which

has many legs. Anthropod means animals including an insect like a beetle and
an ant, an arachnid like a spider or a scorpion, a crustacea like a crab or a
shrimp, and a myriapod like a centipede, and these animals have a different
number of legs. The insect has six legs, the crustacea has ten and the
myriapod has more than ten. The centipede has as many as 44 legs.
The robot researchers have been studying the insect mechanical and control
system as inspiration for the development of robots with improved mobility
and mission capability. Among them, the gait of insects is the most popular
subject.
88
<BigDog>
In case of a two-legged robot walking like a human-being, as soon as the

robot lifts one leg off the ground for to walk, the robot gets unstable because it
has to balance on the other one leg. Therefore, four or more legged robots have
been researched to make them walk like an insect or an animal, because it is
easier to support and balance itself with the rest of three or more legs.
The interesting fact is that an American cockroach is the animal that the
researchers want to copy the most. This cockroach is the fastest insect on the
earth. It runs at the speed of 1.5m/sec and this speed means it moves as far as
50 times of its body per one second.
Elsewhere, a lobster robot is currently being developed in US. This robot

autonomously avoids obstacles, and will remove mines or torpedoes laid under
the sea for the military purpose. Another robot is a mule robot that supplies
fuel on cars or carries equipment in the perilous battlefield.
Reference
The 21st Century Keyword, authored by Lee insik.
89
How to Assemble
1. Put the Middle Frames on the Main Frame and fix with bolts and nuts.
2. Fix bolts to the Motor Frames and then fix the 25mm Support to bolts.
90
4. Put the Motor Frame that is fixed to the DC Motor under the Main Frame and fix with
bolts. Put the Motor Frame which the Support is fixed under the Middle Frame and fix
with 20mm Bolts and bolts.
5. Fix the Middle Frames to the Support that is fixed to the Motor Frame with Nylon Nuts.
6. Fix the 7mm Supports to the 8-holes-Frames with bolts. Fix the 5mm Supports to the
Motor Guides with nuts.
91
7. Insert the Motor Guide to the DC Motor axle and fix with 2.6x10 Bolts. Fix the Support
that is fixed to the 8-holes-Frame to the Middle Frame with Nylon Nuts.
8. Put the 8-holes-Frame and the Middle Frame on the Support that is fixed to the Motor
Guide and fix with 3x10 Bolts.
9. Fix the 10mm Support to the 4-holes-Frame with bolts. The 10mm Support that is left,
fix it to the L-type 2x2 Frame with bolts and then fix the 10mm Support to the 4-holes-
Frame with Nylon Nuts.
92
10. Fix the L-type Frame to the Main Frame with bolts and nuts. Fix the Support that is
fixed to the Small Frame to the Middle Frame with Nylon Nuts.
11. Put the 8-holes-Frames to the Main Frame and fix with the 20mm Supports and Nuts.
12. Put the 7mm Supports to the DC Motor Drive Board and fix with nuts. Put the CPU
Board on the 7mm Support and fix with bolts.
93
13. Put the Battery Case on the Support and fix with bolts. Put the CPU Board on the
Support and fix with the 40mm Support, the 15mm Supports and bolts.
14. Fix the Infrared Sensor Board to the L-type 2x6 Frame with bolts and nuts.
15. Fix the Sound Sensor Board to the 15mm Support that is fixed to the CPU Board with
the 25mm Support and bolts. Fix the L-type Frame which the Infrared Sensor Board is
fixed to the 40mm Support and the 25mm Support with bolts.
94
16. Connect the Power Cable of Battery Case to the Power Connector of the CPU Board.
Connect the DC Motor Cable to the DC Motor Drive Board A, B.
Motor Drive Board. Connect the 3Pin Cable to IN Port 1 of the CPU Board and the
Sound Sensor Board.
18. Connect the 3Pin Cable to IN Port 2, 3 of the CPU Board and the Infrared Sensor Board.
Now, you finished your BugBot.
95
Program
Break Chip
Main Function : It stops endless repetition.

Application : Insert into the position where you want to stop within While Chip.
Follow me!
Try to run two programs below. How different are they each other?
96
Follow me!
Try to make the advancing robot move backward when the Sound Sensor Board detects
sound.
Follow me!
Try to make a robot stop if the Sound Sensor Board detects once and move forward if it
detects once again. What is the reason to put Delay of 0.5 seconds into the program?
97
1. Try to make an advancing robot turn left 2. Try to make an advancing robot turn left
if the left Infrared Sensor Board detects. or right if the left or right Infrared
Sensor Board detects.
98
3. Try to make a robot move if the Sound 4. Try to make a robot start with sound of
Sensor Board detects and turn left or clap and have a race avoiding obstacles if
right if the left or right Infrared Sensor a robots antenna detects something.
Board detects while moving.
99
What did you learn?
1. Let an earwig robot dismantle the dynamite and pass through the maze.
100
Todays Goal
BoxingBot is a robot that can have boxing matches by connecting

both arms to the Servo Motor. Let us learn about the principle of a lever that
can lift up heavy objects easily and look for variable examples in our daily
lives. Then, let us play exciting boxing game using a jab and an uppercut with
the Wireless Remote Control!
-boxing : the sport of fighting while wearing big leather gloves

-lever : a long thin piece of metal that you use to lift something heavy by putting one end under the object and
pushing the other end
101
Robot Story
Principle of a Lever
What shall we do to lift up a heavy object easily? Although we do not have

any special machine like a crane or an excavator, we can solve this problem
through a lever. We also can see variable devices using the principle of the
lever around us. For example, there is a shovel which is used for digging earth
or an opener to open cans and bottles etc.
It has been a long time since humans used the lever, and it was used in even
construction of the pyramid in ancient Egypt. It was used to transfer or to pile
up large stones for the pyramid. In 250 B.C, it was Archimedes in Greece who
epidemiologically explained the principle of the lever first. He was a
mathematician in Ancient Greece and had great ability in using the principle
of the lever.
Archimedes found the law of inverse proportion earlier and he once said to
the Syracuse King, Hieron, "Give me a lever long enough and a fulcrum on
which to place it, and I shall move the world." So the king ordered him to float
a warship with full of soldiers. He solved it easily by using a pulley which is
applied the lever.
102
If there are only a long stick and a fulcrum like the picture above, you can
make the lever. Below is simple equation for the principle of the lever.
Distance from the Fulcrum to the Point of force X The point where you apply the force
= Distance from the Fulcrum to the Point of action X The effect of applying this force
Using the definitions, the Law of the Lever can be simplified as below.
F X a = F X b
As shown in the picture below, if you load the 100kg object on the end of the
short side, and load the 1kg object on the other end, that is the point where
you apply the force, you can lift up the 100kg object. If you apply this principle
to the robot, isnt it possible to lift up heavy objects with a small motor?
103
How to Assemble
1. Fix the High-speed DC Motors and the Motor Frames with bolts.
2. Put the Main Frame on the Motor Frame that is fixed to the High-speed DC Motor and
fix with bolts.
3. Fix the Servo Motors and the Motor Frames with bolts and the 20mm Supports.
104
4. Put the Motor Frame that is fixed to the Servo Motor under the Main Frame and fix with
bolts.
5. Fix the 40mm Supports to the Main Frame with bolts and then fix the Cap Nuts to the
40mm Supports. Connect each two 30mm Supports and fix to each Main Frame and then
fix Cap Nuts to each 30mm Supports.
6. Insert each 5mm Supports to Wheels and then fix with bolts. Overlap two Middle Frames
respectively and put it on 5mm Support and then fix with nuts.
105
7. Put the 8-holes-Frame on the Middle Frame and fix with the Nylon Nut. Connect the
Motor Guide to the 8-holes-Frame and then put the 8-holes-Frame under the Middle
Frame and fix with the Nylon Nut.
8. Put the 8-holes-Frame on Middle Frame and fix with the Nylon Nut. Connect the Motor
Guide to the 8-holes-Frame and then put the 8-holes-Frame under the Middle Frame and
fix with the Nylon Nut.
9. Insert the Motor Guide to the Servo Motor axle and then fix the 8-holes-Frames that is
fixed to both arms to the Support that is connected to the Servo Motor with bolts.
106
10. Overlap the L-type 2x1 Frame and the Motor Frame on the CPU Board and fix with
bolts.
11. Fix the L-type Frame that is fixed to the CPU Board to Main Frame with bolts.
12. Connect two 30mm Supports respectively and fix to each Main Frame. Put the Battery
Case on the 30mm Supports and fix with nuts.
107
13. Insert the 3x10 Bolt to the Main Frame and then insert the Caterpillar Wheel Guide to
the 3x10 Bolt and fix with bolts. Fix the 25mm Supports to the Main Frame with nuts
and then put the 5-holes-Frame and fix with bolts and make a face. Fix the Main Frame
(face) to the Motor Frame that is fixed to the Motor Frame with bolts.
14. Connect the Remote Control Receiving Board and the DC Motor Drive Board with bolts
and nuts. Fix the L-type 2x1 Frame to both ends.
15. Insert Wheels to the DC Motor axles. Fix the L-type Frame that is fixed to the Remote
Control Receiving Board to the Main Frame with bolts and nuts. Connect the several
Caterpillars and then put them on the Main Frame and make hair nicely.
108
Motor Drive Board. Connect the Left Servo Motor Cable to OUT Port 5 of the CPU
Board and connect the Right Servo Motor Cable to OUT Port 6 of the CPU Board.
Receiving Board.
Now, you finished your BoxingBot.
109
Program
Set the Servo Motor

starting point and set the radius of rotation with Servo Motor Chip.
Follow me!
Set the Servo Motor Chip to make robots both arms as the picture below.
110
Follow me!
Set the Servo Motor Chip to bend robots left arm.
Follow me!
Set the Servo Motor Chip to stretch robots right arm.
111
1. Try to make a robot throw the left jab 2. Try to make a robot deal a right hand
twice when pressing 1, 5 of the Wireless uppercut once when pressing 2, 5 of the
Remote Control. Wireless Remote Control.
112
3. Try to make a robot move forward when 4. Let us have a boxing match and compete
pressing button 1, move backward with for the boxing champion with your
button 2, turn left with button 3 and friends using a jab and an uppercut.
turn right with button 4.
113
What did you learn?
1. You are trying to remove a big rock using the principle of a lever. If the weight of rocks
between picture A and B, is same, draw a on the side that can be removed with less
force.
114
Todays Goal
ParrotBot is a parrot robot that can greet moving its beak and
wings. Let us learn about saving method and applied examples of the Voice
Board that can record and play the sound you want. Let us make a robot say
Hello? to you by using its beak as a parrot when the Sound Sensor is detected.
-parrot: a tropical bird with a curved beak and brightly-coloured or grey feathers or to
repeat what someone has just said, without really understanding it
-record: to store music, sound, television programmes etc on tape or discs so that people can
listen to them or watch them again
115
Robot Story
Voice Board
A Voice Board stores a voice signal or other signals in the memory and
sends out to a speaker when required. This technology is used in many ways
in our daily life, such as automatic answering machine that records your
telephone calls when you cannot answer them, announcement in the bus and
so on.
What is the principle of the Voice Board to record? First, Let us see how
tapes and CDs that we can see easily around us can save. Tapes use the
property of a magnet which indicates information on the magnetized vinyl
tape through the magnetic recorder. Unlike tapes, the CD uses laser. This is
the reason the rainbow appears on the CD, when you adjust the angle of
diffraction under the light. When examining the CD with a microscope, you
can see innumerable scratches, and this is because it records data or
information by burning dyes that is coated slightly on the surface of the CD
through the laser.
116
The Voice Board saves in IC (a semiconductor chip). Human voice is analog
so it converses the analog signal into digital signal, a combination of 0 and 1.
The work of changing analogue signal into digital signal is similar to
temperature measurement. Temperature changes successively but it can be
measured by sampling at regular intervals. Of course, the shorter the interval
is, the more accurate observance you can get. Thus it saves sequentially
changing numerical value that is continuously changing from certain time
terms. This storage method in the IC has the advantage that does not need
any tape or CD to save and can be used semi-permanently.
Of IN Port and OUT Port on the CPU Board, Where should the Voice Board,
which can input and output the sound, be connected to?
To use the Voice Board, you should record the sound you want. If you
connect the Voice Board to OUT Port and press the REC button, the red LED
turns on. At this time you can record wanted sound through a microphone.
And you can check the recorded sound immediately by the PLAY button.
117
How to Assemble
1. Put the Motor Frames on the Battery Case and fix with the 40mm Supports.
2. Overlap the L-type 2x6 Frames and the L-type 2x2 Frames and fix to the Support with
bolts.
3. Connect two 30mm Supports respectively and fix the Motor Frames and Supports to the
CPU Board with bolts and nuts.
118
4. Fix the Voice Board and the Support that is fixed to the CPU Board with bolts and then
fix it to the Motor Frame that is fixed to Battery Case with bolts.
5. Fix the Motor Frame to the Main Frame with bolts. Fix the 35mm Support and the
20mm Support to the Main Frame with bolts.
6. Fix the 35mm Support to the Main Frame with bolts. Put the 4-holes-Frame on the
Motor Guide and fix with bolts and nuts. Fix the Servo Motor to the 35mm Support with
nuts and then insert Motor Guide to the Servo Motor axle.
119
7. Fix the L-type 2x6 Frame and the L-type 2x2 Frames to the Option Frame with bolts and
nuts.
8. Fix the 10mm Support to the L-type Frame with bolts. Fix the 5-holes-Frame to Support
with a Nylon Nut.
9. Fix the 7mm Support to the L-type 2x2 Frame with a bolt. Fix the 5-holes-Frame to
Support with a Nylon Nut.
120
10. Fix the 5-holes-Frame to the 4-holes-Frame that is fixed to the Motor Guide with 3x10
Bolt and the Nylon Nut. Fix the L-type Frame that is fixed to the Option Frame to the
Support that is fixed to the Main Frame with Nylon Nut.
11. Fix the L-type 2x6 Frame to the L-type 2x2 Frame with bolts and nuts. Put the L-type
2x2 Frame on the Support that is fixed to the Main Frame and fix with the 20mm
Support.
12. Fix the Main Frame which the Servo Motor is fixed and the prepared Main Frame with
a nut.
121
13. Insert the Regulable nut to 75mm axle and then put it between the Main Frames and
fix with the 15mm Support.
14. Put the L-type Frame on the Regulable nut and fix with bolts.
15. Insert the 3x10 Bolt to the Main Frame and then insert the Caterpillar Wheel Guide to
the 3x10 Bolt and fix with bolts. Fix the Sound Sensor Board to the Motor Frame with
bolts.
122
16. Fix the 8-holes-Frame and the L-type 2x2 Frame with bolts and nuts. Fix the 5-holes-
Frame and the 4-holes-Frame to the 8-holes-Frame with bolts and nuts to make a crest.
17. Put the Remote Control Receiving Board and a crest on the Motor Frame that is fixed to
the Main Frame and fix with bolts.
18. Put a head of parrot (Main Frame) on a body (Voice Board) and fix with bolts.
123
19. Overlap three Middle Frames respectively and fix with bolts and nuts to make wings.
20. Put wings on the Support and fix with nuts.
Connect the Servo Motor Cable to OUT Port 1 of the CPU Board.
124
22. Connect the 3Pin Cable to OUT Port 2 of the CPU Board and the Voice Board. Connect
the 3Pin Cable to IN Port 1 of the CPU Board and the Sound Sensor Board.
Receiving Board.
24. Now, you finished your ParrotBot.
125
Program
Set the Servo Motor

starting point and set the rotating position with the Servo Motor Chip.
Follow me!
Set as the robots beak closes and opens twice.
126
Voice Chip
Main Function : It makes the Voice Board work.

Application : Check OUT Port of the CPU Board that is connected with the Voice Board.
Follow me!
After recording a sound you want, set the Voice Chip to play the sound.
127
1. Try to make the Voice Board play the 2. Try to make a robots beak close and
recorded sound when the Sound Sensor open twice when the Sound Sensor
detects. detects.
128
3. Try to make the robots beak moves with 4. Record fun words in the Voice Board and
the sound from the Voice Board when the have a conversation with your parrot.
Sound Sensor detects.
129
What did you learn?
1. Draw a on the thing that does not use a Voice Board in the pictures below.
Reference
http://imagebingo.naver.com
http://www.handicare.co.kr
http://www.bandoelevator.com
http://lge.co.kr
130
Todays Goal
DogBot is a dog robot that moves front legs with a Servo Motor. Let
us learn about the reasons why a pet robot like the Dog Robot is popular and
loved by many people and find out its function. Make your own sweet Dog
Robot by programming it to move like a real dog when various types of sensors
detect.
-dog : a very common four-legged animal that is often kept by people as a pet or to guard or hunt
131
Robot Story
Pet Robot
Pet is an animal kept for amusement or companionship. The pet is usually

characterized as follows; small bodied, cute, sweet, colorfigurepretty voice
and so on. All animals can be the pet in a broad sense.
Recently, people can raise, not for real, the pet but in the screen starting
from the game Tamagochi to a puppy character in a little cellular phone.
They make people feel like keeping real pets so they gain popular from many
people.
Nowadays these electrical pets are greatly developed starting with the game
raising pets in the screen. As a pet robot which is already on sale to the
common house. There are several types of the pet robot such as fish, cat,
bird etc but the most developed one is a puppy.
132
The most representative dog robot is AIBO which is an emotional,
intellectual robot made in Japan. It shows six emotions such as pleasure,
sadness, anger, surprise, fear and hatred with body movements, colors and
blinks of LED. It was made to substitute a real pet and now, it is recognized as
a new object that can be a friend with a human by virtue of its various
functions and continuous development. Actually in Japan, it is very popular as
raising it as a real child.
Besides, giving enjoyment to the human, what is another reason to develop

the pet robot?
It is because the pet robot can give mental consolation to the human. The
therapeutic use of pets as companions has gained increasingly attention in
recent years for not only normal people but also for Alzheimers patients. But
the pet therapy was avoided because of a few disadvantages such as sanitation,
allergy or virus infection and so on. However the pet robot does not cause
these problems mentioned above and it can solve difficulties like excrement or
training etc.
Why dont you make a pet robot with various functions and give a pleasure
and consolation to lonely people through your robot?
Reference
http://junior.sciencetimes.co.kr
http://imagesearch.naver.com
133
How to Assemble
1. Put the L-type 2x1 Frame on the Main Frame and fix with bolts and nuts.
2. Put the 3-holes-Frames under the CPU Board and the Voice Board and fix with bolts and
nuts.
3. Fix the L-type Frame that is fixed to the Main Frame to the Voice Board and the CPU
Board with bolts and nuts.
134
4. Fix the Battery Case to the L-type Frame that is fixed to the Main Frame with bolts and
nuts.
5. Connect two 30mm Supports and then fix to the DC Motor with bolts and nuts. Fix the
10mm Supports to the DC Motor with nuts.
6. Fix the Support that is fixed to the DC Motor to the Main Frame with bolts.
135
7. Fix the 7mm Supports to the 3-holes-Frames with nuts.
8. Fix the Motor Frames and the 3-holes-Frame to the Servo Motor with bolts. Fix the
10mm Supports to the Motor Frames.
9. Flip over the DC Motor Drive Board and fix it to the Support with bolts. Fix the 20mm
Supports to the DC Motor Drive Board with nuts.
136
10. Fix the 10mm Supports to the Motor Frames.
11. Fix the Motor Frame and the 3-holes-Frame to the DC Motor with bolts. Put the Sound
Sensor Board on the Support that is fixed to the Motor Frame and fix with bolts.
12. Fix the Support that is fixed to the 3-holes-Frame with bolts.
137
13. Put the 5-holes-Frame under the Motor Frames and fix with bolts. Connect the 15mm
Support and the Cap Nut and then fix the 15mm Support to the 5-holes-Frame with
bolts.
14. Fix the Motor Frame to the Main Frame with bolts.
15. Insert the Wheels to the DC Motor axle.
138
16. Insert the 5mm Supports to the Wheels and fix with bolts. Put the Middle Frame to the
Support that is fixed to the Wheel and fix with Nylon Nuts. Put the 8-holes-Frame and
the Motor Guide on the Middle Frame and fix with 3x10 bolts, bolts and nuts.
17. Insert the Motor Guide that is connected to Wheel into the Servo Motor axle.
18. Insert 3x10 Bolts to the -type Frame and then insert the Caterpillar Wheel Guides to
3x10 Bolts and fix with bolts. Put the LED Board on -type Frame and fix with bolts
and nuts.
139
19. Put the Motor Frame under the Middle Frame and fix with bolts.
20. Fix the Motor Frame to the Remote Control Receiving Board with bolts. Fix the 7mm
Support to the Remote Control Receiving Board with bolts and then put the Infrared
Sensor Board on it and fix with nuts.
21. Put the Motor Frame that is fixed to the Remote Control Receiving Board and the Motor
Frame that is fixed to the Middle Frame on the -type Frame and fix with bolts and
make a face.
140
22. Put the face (-type Frame) on Support that is fixed to the DC Motor Drive Board and
fix with bolts.
23. Connect the Power Cable of Battery Case to the Power Connector of the CPU Board.
24. Connect OUT Port 1, 2, 3, 4 of the CPU Board and the DC Motor Drive Board 1, 2, 3, 4.
Connect the left and right Servo Motor Cable to OUT Port 5, 6 of the CPU Board. Connect
OUT Port 7, 8 of the CPU Board, the Voice Board and the LED Board. Connect IN Port 1, 2,
7 of the CPU Board and the Infrared Sensor Board, the Sound Sensor Board and the Remote
Control Receiving Board
Now, you finished your DogBot.
141
Program
Set the Servo Motor

Follow me!
Set the Servo Motor Chip to stretch robots both legs perpendicularly.
142
Follow me!
Set the Servo Motor Chip as the robot can lift its legs.
Follow me!
Set as the robot turn left lifting both legs.
143
1. Try to move the robot forward when 2. Try to pass over the doorsill with both
pressing button 1, backward with button legs pulled up when pressing the
2, turn left with button 3 and turn right Wireless Remote Control 5.
with button 4.
144
3. Try to make it bark after bending both 4. Try to make your own charming
legs and standing up when an infrared movements and play with your dog robot.
ray is detected.
145
What did you learn?
1. Compare the differences between a real puppy and a puppy robot.
Real Puppy VS Puppy Robot

Excavation You should clean away excrement. It does not evacuate.
Food
Training
Touch
146
Todays Goal
SpaceBot is a space exploration satellite robot that explores a

planet. Let us find out a mission to explore the planet. Try to compete who
loads and transfers the most fossil resources using a robot hand that is made
with the Servo Motor by grabbing and lifting up the things!
-space : an area that is empty or available, the area beyond the Earth's atmosphere, where the stars and
planets are
-planet : a large, round object in space that moves around the sun
147
Robot Story
Space Exploration Satellite
Everybody has ever become curious about the mystery of the space like
following questions; How did the space start and where is the end?, Isnt
there another space beyond the solar system? To solve these questions, the
space exploration satellite is sent to outer space.
There are two space exploration satellites, Voyager 1 and 2 and National
Aeronautics and Space Administration (NASA) launched them to explore
Jupiter, Saturn, Uranus and Neptune which are located in outer solar system.
Voyager 1 and 2 are of a same size, and they have a body of ten sides and an
antenna that has a wider upper area than bottom and 3.66m in diameter and
825kg in weight.
Voyager has two TV cameras and an Infrared ray measuring instrument

equipped with the power supply. With the energy generated from it, Voyager
moves away from the sun with 600,000 km per hour.
148
Examining the data from spaceships, huge storms happen incessantly in
Neptune, and Jupiter has very thin rings around it like Saturn, and rings of
the Saturn is made with more than 1,000 thin lines. In addition, we are able to
find numerous satellites which are not found yet.
In order to let aliens know the existence of an earthian, Voyager currently is

travelling away from the solar system with a picture of the human kind,
mathematical equations, pictures of river Snake in America, and a record on
which various sounds are recorded such as street noise, the first crying of a
baby, a string quartet, a sound of outgoing rocket fire, greetings of the
President Carter etc..
Can this record in Voyager be delivered to the alien?
149
How to Assemble
1. Fix the Servo Motor and the Motor Frames with bolts. Put the Motor Frame that is fixed
to the Servo Motor on the Main Frame and fix with bolts.
2. Put the 35mm Supports and the L-type 2x2 Frames on the Main Frame and fix with
bolts and nuts.
3. Put the Option Frames on the Main Frame which the Main Frame and the Servo Motor
is fixed and fix with bolts and nuts.
150
5. Fix the DC Motor under the Main Frame using 40mm Supports.
6. Fix the 20mm Supports to the Battery Case with bolts. Fix the 20mm Supports to the
Main Frame with nuts.
151
7. Overlap the 8-holes-Frame and the L-type 2x6 Frames and fix with the 10mm Supports,
bolts and nuts. Put the 10mm Support on the Main Frame and fix with nuts.
8. Insert the 200mm axle to the L-type Frame and then insert the Caterpillar Wheel Guides
to its both ends. And insert the Regulable nuts to both ends and fix with bolts.
9. Fix the Motor Frames and the L-type 2x2 Frames to the Servo Motor. Overlap the 8-
holes-Frame and the L-type 2x2 Frame and fix it to the Motor Frames that is fixed to the
Servo Motor with bolts and nuts.
152
10. Overlap the L-type 2x6 Frames and the Motor Frame on the Option Frame and fix with
bolts and nuts.
11. Put the 5-holes-Frame on the Motor Guide and fix with bolts and nuts. Overlap the L-
type 2x6 Frames and connect with bolts and nuts and then fix it to the 5-holes-Frame.
12. Put the Motor Frame that is fixed to the Option Frame under the L-type Frame that is
fixed to the Servo Motor and fix with a bolt. Insert the Motor Guide to the Servo Motor
axle.
153
13. As inserting the 200mm axle to the L-type Frame, insert two Regulable nuts together to
the grabbing part of both sides. Insert the Caterpillar Wheel Guide and Regulable nuts
to both ends of the axle and fix with bolts. Fix the bolt of the Regulable nut which is
inserted to locate the grabbing part on the center of the axle.
14. Fix the 5-holes-Frame to the Motor Guide and then fix the 7mm Support with bolts. Put
the 5-holes-Frame on fixed 7mm Support and fix with the Nylon Nut and then fix the
7mm Support on the opposite side of the 5-holes-Frame. Insert the Motor Guide to the
Servo Motor axle and fix the 7mm Support to the L-type Frame with the Nylon Nut.
15. Insert the Wheel Guides that is connected with the Caterpillar Wheels to the DC Motor
axle and then fix with 2.6x10 Bolts.
154
16. Connect the 43 Caterpillars and make two lanes and then fix it to the Caterpillar Wheel
and the Caterpillar Wheel Guide.
17. Insert the 15mm Support to the Wheel axle and then fix with another 15mm Support
and fix the Cap Nut at the end of the Support. Connect the L-type 2x1 Frame and the L-
type 2x2 Frame to the 15mm Support and the Motor Guide to make an antenna.
18. Connect the CPU Board and the High-speed DC Motor with the 4-holes-Frames. Insert
the Motor Guide that is fixed to the antenna to the High-speed DC Motor.
155
19. Put the DC Motor Drive Board and the CPU Board on the Support that is fixed to the
Main Frame and fix with bolts and nuts.
20. Put the Remote Control Receiving Board and the DC Motor Drive Board on the Support
that is fixed to the Main Frame and fix with bolts and nuts.
Connect the DC Motor Cable to the DC Motor Drive Board A, B. Connect the High-speed
DC Motor Cable to the Left DC Motor Drive Board A.
156
22. Connect the 3Pin Cable to OUT Port 1, 2, 3, 4 of the CPU Board and the Right DC
Motor Drive Board 1, 2, 3, 4 and connect OUT Port 5, 6 of CPU Board and 1, 2, 3, 4 of
the Left DC Motor Drive Board.
23. Connect the Servo Motor of the grabbing part to OUT Port 7 of the CPU Board. Connect
the Servo Motor Cable to OUT Port 8 of the CPU Board. Connect the 3Pin Cable to IN
Port 7 of the CPU Board and the Remote Control Receiving Board.
24. Now, you finished your SpaceBot.
157
Program
Set the Servo Motor
Main Function : gripper.

Follow me!
Set the Servo Motor Chip to open the robots gripper.
158
Set the Servo Motor
Main Function : It sets the starting point and radius of rotation of gripper.
Follow me!
Set the Servo Motor Chip to lift up the robots gripper.
159
1. Try to make a robot close the gripper 2. Try to make the robot close the gripper
when pressing 1, 5 of the Wireless when pressing 1, 5 of the Wireless
Remote Control and open when pressing Remote Control and to open when
2, 5. pressing 2, 5.
160
3. Try to make the robot move forward 4. Extracting fossil resources with the
when pressing 1, move backward with 2, gripper, load them to the space
turn left with 3 and turn right with 4 of exploration satellite and then back to the
the Wireless Remote Control. base safely. Who deliver the most?
161
What did you learn?
1. All of the planets in our solar system orbit the Sun as shown in the picture
below. Write down each name of the planet.
162
Todays Goal
BattleBot is an original robot you can make for pushing down

game. In this chapter, you can display the skill that we have honed. Let
us play game with friends robots operating by the Remote Control.
- Battle : An encounter between opposing forces, armed fighting, a match between two combatants
- Creative : Having the ability or power to create, productive, characterized by originality and expressiveness
163
Robot Story
BattleBot
While a combative sport for humans is K-1, ROBO-ONE is for a robot.

ROBO-ONE means the one peaceful world through the robot, and it is the first
combative sport match by a humanoid robot in the world.
ROBO-ONE is regularly held every six months for the improvement of

technologies. In Korea, starting from The 1st Asia ROBO-ONE competition in
Pusan in 2003, several matches were held.
The Asia ROBO-ONE committee is preparing for the ROBO-ONE

competition not only on earth but in the space in 2010. Injecting the satellite
loaded up with fighting robots to the space, they are planning to hold the
competition which operates by remote control.
164
To participate in ROBO-ONE competition, you have to be qualified for the
robot players standard. First, robot should be two-legged and walk more than
five steps in 10 seconds and the size should be between 20~120cm. The size of
soles of feet should be shorter than 13cm but weight has no limits. Also, the
robot should bend and stretch its waist, and should walk on the side and
should stand up by itself when fall down. Any weapon such as a blade and a
rotating saw blade that could damage the opponent or the stadium is
prohibited.
If the robot passes all the standard judgment, it is qualified to participate in

ROBO-ONE. In the competition, they select total 16 teams through
preliminary matches that valuate robots in general which examines
movement judgments like specific performance (running etc.), free
performance like dancing and basic walking and judge on design and
originality. From the best 16, matches are run in the way of the tournament.
The match is run in the ring of the prescribed size for 3 minutes per round and
if the game is not decided, the games usually go into extra time for two
minutes. Most of the rules are similar to K-1 such as getting KO if the robot
cannot stand up in ten count-downs of the referee or three knock-downs. But
due to peculiarity of the robot, if the robot falls out from the ring or if getting
two warnings or time-out, it is considered as one knock-down. There is
Rumble Match, four robots from each of two teams fight on the ring as an
extra match.
Imagine for a moment that you are controlling the two-legged robot in action.
I must be very cool if your robot kick and knock out the opponent.
Reference
http://www.robo-one.co.kr
http://www.hani.co.kr
Digital Times
165
High Grade Course
This course is to assemble and drive the robot of bigger and more complicated structure
using the Interface Board that can support power for long. Students also use the Servo
motor which is widely used in robot field to make various motions of the robot. In addition,
to deepen your learning in the course, we designed lots of interesting missions in each
chapter.
This robot can carry balls. This robot can fire with a Students can understand the
Students can understand the rubber band. Students can learn structure of grabbing that makes
principle of the interface board. how to control through step-by- the robot possible to grab and
step process. play bowling.
Students can understand how to This robot is connected with a In this course, students will
drive both side of the Servo trailer like trailer-truck. Students design their own robot according
Motors with the bull fighting can learn driving method of an to the given theme and show it to
(traditional game) robot automobile. each other. They can improve
their creativity and self-
confidence through this process.
The contents(part's specification, appearance or size etc.) of this material are subject to change without notice.
The world for prospective scientists,
who will lead the future
Future Robot World
RoboRobo strives to nourish students with scientific ability who will lead 21 st century. For
this reason, we have adapted the robotic education model of advanced countries, and have
systemized the educational curriculum and learning tool which is designed by the best
brains of the best university.
Robot Education Research Group of Engineering doctors of Seoul National University
Research Society for Education of Intelligent Robot

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Step03

The world for prospective scientists,

Future Robot World

Robot Education Research Group of Engineering doctors of Seoul National University

Research Society for Education of Intelligent Robot

Remote Control Sending Board x 1 LED Board x 4

DC Motor(100rpm) x 2 Caterpillar Wheel x 3

Caterpillar Wheel Guide x 4

1. Do not put the parts in your mouth.

Intelligent Robot School 3

10. DogBot 131

SoccerBot is a robot that drives a ball at high speed and can

Thus, robot soccer system is made to move automatically and electrically

2. Fix the 20mm Supports to the 8-holes-Frames with nuts.

3. Put the 8-holes-Frames on Motor Frames and fix with bolts.

15. Insert Wheels to the High-speed DC Motor axle.

Homework Teachers Check

FanBot is a motor fan robot by using High-speed DC Motor. Lets

- fan : air cooler, ventilator, blower, aerator

18. Now, you finished your FanBot.

Homework Teachers Check

DiceBot is a robot that throws a die instead of people when

Main Function : It sets the starting point and rotation position.

Homework Teachers Check

FormulaBot is a race car robot that is controlled by the

Set the Servo Motor

Main Function : It sets the starting point and rotation position.

Homework Teachers Check

Meanwhile, if the person raises a P flag when preparations of communication finishes, it

18. Now, you finished your FlagBot.

Set the Servo Motor

Main Function : It sets the starting point and rotation position.

Homework Teachers Check

SweepBot is cleaning robot that sweeps the floor spinning its

-sweep: clean, brush out, remove

Cleaning Robot has a camera which functions as an eye of human, a driving

Homework Teachers Check

-bug : An insect or similar organism, such as a centipede or an earwig.

Researchers of a walking robot have a strong interest in arthropod which

In case of a two-legged robot walking like a human-being, as soon as the

Elsewhere, a lobster robot is currently being developed in US. This robot

3. Fix the DC Motors and the Motor Frames with bolts.

Main Function : It stops endless repetition.

Homework Teachers Check

BoxingBot is a robot that can have boxing matches by connecting

-boxing : the sport of fighting while wearing big leather gloves

What shall we do to lift up a heavy object easily? Although we do not have

Set the Servo Motor

Main Function : It sets the starting point and rotation position.

Homework Teachers Check

20. Put wings on the Support and fix with nuts.

24. Now, you finished your ParrotBot.

Main Function : It sets the starting point and rotation position.

Main Function : It makes the Voice Board work.

Homework Teachers Check

Pet is an animal kept for amusement or companionship. The pet is usually

Besides, giving enjoyment to the human, what is another reason to develop

15. Insert the Wheels to the DC Motor axle.

Set the Servo Motor

Main Function : It sets the starting point and rotation position.

Real Puppy VS Puppy Robot

Homework Teachers Check

SpaceBot is a space exploration satellite robot that explores a

Space Exploration Satellite