G. CARRILLO, C. FLORES, P.RÍOS
INGENIERÍA ELECTRÓNICA, CONTROL Y REDES INDUSTRIALES-ESPOCH
Palabras claves: Robot cuadrúpedo, medidor distancias, servomecanismos.
The article describes the mechanical design and motion of a robot lizard controlled by microcontrollers; it is designed to perform some of the functions of this reptile. Themodel developed is programmed for the movement of the limbs, head and tail, they are controlled with servomotors synchronized, they receive signals of 4 microcontrollers drivers.
Each microcontroller runs an algorithm that is modular so walking routine will be attended, detection and obstacle avoidance based on ultrasonic sensors.
Key words: Quadruped robot, measuring distances, servomotors.2. Introduction
With the idea searching robots that can replace wheeled vehicles, so they can move through areas where they cannot, engineers and scientists are imitating animals, which they are well adapted to the environment in which they live.
This idea to imitate the nature is a very strong source of inspiration for technicians. The problem is that animals are extremely complex thatthe man can only make imitations of them . The quadrupeds have "own personality" and are very different from the rest. 
Figure 1. Quadruped robot lizard
The construction of a quadruped robot has many applications such as surveillance and espionage, in this case the lizard, which will be used in future to replace spy activities where the human aren't involved.
3. Robot design
Tobuild the robot lizard we have established steps are detailed below.
* Features of reptile
* Structure and behavior.
* Parts of the robot
* Mechanical design and control.
* Design of inputs: digital and analog signals
* Combination design input and movement.
* Tests y results
FEATURES OF REPTILES: STRUCTURE, BEHAVIOR.Among the most important characteristics of the lizard that has been investigated are:
• Animal quadruped.
• Shift your body dragging
• The movement of the tail is constant,
• If the lizard detect some prey it attack immediately. They range in size from centimeters to meters.
PARTS OF THE ROBOT
- Structure (lift the robot)
- Control (Microcontrollers)
- Sensors (light, sound,ultrasonic)
- Mechanics (Exit System servomotors)
All parts conform the robotic system with the design and the appropriate form which is able to to emulate the behavior of a lizard.
It should be noted how is the work of ultrasonic sensors they are measuring of distance  which the transmitter emits pulses and bounce on a particular body the sound is captured for a receiver.
Figure 2.Ultrasonic distance measurement
When measuring the time between emission and arrival of eco and if we have the speed of sound in air we find the distance which is the object.
MECHANICAL DESIGN AND CONTROL
Due to the requirements and mobility which was intended to give the robot we include the skeleton of acrylic, durable and lightweight, where is embedded the legs, headand tail
Each leg has two servomotors with 2 degrees of freedom and flat form that it makes contact with the ground and can move up , it was chosen for its ease of maneuverability and flexibility.
Figure 3. Leg design
Design of the robot platform
Platform is composed of the legs like limbs,  has an enlarged head and a tail long with their respective servomotors thatmakes him move according to the direction of rotation and walk of the robot.
Figura 4. Platform of the robot
As a robot's brain uses a network of three microcontrollers pic 16F628A which performs a specific task, in this case manages all resources of both input and output to this device .
The program of each microcontroller is programated in microcode studio with the...