built by Mikael Stewart

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Target Environment Locomotion Method
Indoors 6 Legs
Sensors / Input Devices Actuators / Output Devices
12 bump sensors
CCD camera
mercury tilt sensors
12 servo motors
Control Method Power Source
Autonomous Battery
CPU Type Operating System
PIC Microcontroller None
Programming Lanuage Weight
Assembly 2 Kg
Time to build Cost to build
approximately 8 months see comments
URL for more information
This is my six legged walking robot or hexapod called MHEX, meaning "Mikaels Hexapod". I started building MHEX early in 2001 at the age of 15. MHEX uses 12 * 5kg/cm servo motors controlled by a 16F84 PIC running @ 4mHz. MHEX has 12 channel current sensing system for touch/bump/obstacle detection. There is a ccd camera and sonar ranger mounted on a servo pan/tilt system for vision and distance feedback. MHEX has rubber feet and has a body made entirely from scrap aluminiun.

MHEX took me about 8 months to plan and build and get walking for the first time. Mhex can now walk up shallow stairs on his own without me commanding it and can detect obstacles in the way, he can carry an extra 4kg of weight while drawing about 2 amps in 'slow walk' mode.

The servo motors and ccd camera were the only things that really cost me anything as the scrap aluminium was traded for scrap copper piping. The servos were $28.50 ea minus the 2 on the pan/tilt system and the ccd cam was $92 in New Zealand Dollars.

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