Green Bug Bot

built by Edward Rupp

Target Environment Locomotion Method
Indoors 3 Wheels
Sensors / Input Devices Actuators / Output Devices
IR proximity sensor Servo motors
Control Method Power Source
Autonomous Battery
CPU Type Operating System
PIC Microcontroller
Programming Lanuage Weight
Time to build Cost to build
URL for more information
This robot is simply called 'Green Bug Bot' it is 2nd in a series of simple robot chassis designs based on the original design call 'Minimal Bot'. Basically the chassis is a single peace of .115" thick expanded vinyl plastic that is cut to shape by my home made CNC then bent into final shape by light heating of the plastic and then binding in a normal sheet metal binder.

This robot was the first time I had used hobby RC servo motors converted to 360 degree rotary motion. The original power electronics were still used to power the motors via their normal pulse signal direction and speed control. The wheels are light foam model airplane tires, the hub has a nice recess that makes aligning a round 1" hobby servo horn easy. I mounted the servo horn to the rim by match marking the holes from the servo horn to the hub. Then drill and tap the hub for 4-40 screws. It worked very nicely.

The Electronics is simply a 16F84 mounted on a proto board. The board was my first experimenting with PIC's board, so had a bunch of dip switches on it to learn about the concepts of pull up and pull down resistors, input and outputs, lighting LED's. Thus it was a natural to just grab this board to run this simple robot.

At first it simply had some classic bump switches. Later as shown in the photo I mounted a home made copy of the Dallas Personal Robotics Groups design of a IR proximity sensor.

The robot was programed using Pic Basic. The program was just the usual beginning robots, avoid bumping into things and wonder around code. Even though one knows the code's simplicities, the resulting apparent robotic behavior is still very mesmerizing.

People still can't help but begin to beleave the robot has a 'cognition' of its environment. It doesn't of coures but it still makes for very enjoyable and amusing entertainment as the simple robot and programing appear to struggle with the 'baffling' world around it.

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