Can we interface motors which arduino UNO, without using a motor driver IC(L293D)?
The motor should be able to rotate in the the directions.
Why the avoidance of using the L293D?
It is amazing, you can purchased various H-bridge modules based on the L293, L298 or SN754410 for often less then the cost of constructing an alternative out of discrete components. Checkout eBay, the prices for such preassembled H-bridge modules start in the $3 range with free shipping and go up from there.
Of course, you could construct an H-bridge out of discrete components for the educational benefit, however it would most likely cost more than the preassembled modules on eBay.
The following generic schematic of an Darlington Transistor based H-bridge, has been successfully used to drive DC motors at 18V @ 5A when constructed out of the appropriate components and Heat Sinking:
A 10A version using only TIP142 and TIP147s, but missing need diode protection from Back EMF:
A couple of the Arduino H-bridge tutorials, although examples use L293/L298 they can be adapted to use discrete H-bridge designs like those above.
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[Arduino] Bi-Directional DC Motor Control
A risky and not recommended approach using only an Arduino:
[Arduino] Bi-Directional DC Motor Control With Arduino Only
A Solid State Relay Bidirectional DC Motor Control project:
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Hope these tutorials help in your endeavors,
BigDog