Roboty

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
N/A	N/A
Time to build	Cost to build
N/A	N/A
URL for more information
http://www.taygeta.com/robotics.html
Comments
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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