built by Skip Carter

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Target Environment Locomotion Method
Indoors 6 Legs
Sensors / Input Devices Actuators / Output Devices
Polaroid sonars
IR sensors
bump sensors
light detectors
12 R/C servos for legs
R/C servos for sensor array
Control Method Power Source
Autonomous Battery
CPU Type Operating System
6 Motorola 68HC705K1, 1 Motorola 68332 N/A
Programming Lanuage Weight
Time to build Cost to build
URL for more information
Roboty is an autonomous 6 legged walker. It is about 15" long and stands about 6" high. Each leg is controlled by its own 68HC705K1 microporcessor which generates the control signals for a pair of servo-motors. The 6 705's are connected on a SPI "network" and are controlled by a 68332. The '332 handles the coordination of the leg motions, manages the sensors, and makes the high level decisions about what to do next. Most of the sensors are mounted on a sensor "head" that can be steered up/down and left/right.

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