built by Edward Rupp

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Target Environment Locomotion Method
Indoors 4 Legs
Sensors / Input Devices Actuators / Output Devices
IR proximity sensor
video camera
bump switches
3 hobby servos
Control Method Power Source
Autonomous Battery
CPU Type Operating System
PIC Microcontroller None
Programming Lanuage Weight
Time to build Cost to build
URL for more information
With the design and construction of this robot I realized that a walking robot is a heck of a lot more work for the end results!

It's a basic 3 hobby servo design, 2 of the motors via connecting rods move the front and back legs, pivoting them forward and backwards when their pivoted up or down by the 3rd motor which moves the center leg's up or down. With this arrangement you can acheave a reasonable walking gate with the fewest motors. The concept of course has a lot of limit's, being it can only really walk on smoth flat surfaces. Being legs big advantages are the ability to walk on ruff and irregular terrain, this of course defets the very point of legs. However really the point of the design is to simply as possible demonstrate a non wheeled means of locomotion and show some interesting mechanical movement. Also it gives the machine a very animated life like appearance.

The chassis is in my usual CNC cut heated and bend formed PVC constrution methods. The nice thing about CNC and PVC plastic is how easy is to make a complex series of parts and be able to glue them together using ordinary PVC pipe cement!

The electronics is based on my series of SIMM styled PC boards. In the front socket is the main control board, which is a PIC 16F628. Also mounted on some standoffs from the first board is a IR proximity sensor board. The second board is a power supply using a Power Trends mini switching supply. Last board is holding a video camera transmitter and on top of the board is the camera. The odd shaped object to the top side is the antenna.

The programing is in Pic Basic Pro. The code has some nice features such has having the robot slowly ramp up to walking speed. This makes the robot appear a little more 'life like'. The code simply is set to keep the robot from bumping into things. If the IR poximitys see something it will try to turn away or backup and turn away. If the bump switches are hit it will back and turn away.

The camera was a late addition. It's very interesting to

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