Stewie

built by Vecheslav Silagadze

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Click on an image to enlarge it
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Target Environment Locomotion Method
Indoors 4 Legs
Sensors / Input Devices Actuators / Output Devices
N/A 10 Hobby servos
Control Method Power Source
Autonomous Battery
CPU Type Operating System
PIC Microcontroller None
Programming Lanuage Weight
Assembly N/A
Time to build Cost to build
N/A N/A
URL for more information
N/A
Comments
His name is Stewie, and he's a 4 legged walker. The robot is a bit under 20x20cm, and about 10cm tall. It's a work in progress as you can see, but the mechanics are all done. The control system is still only on paper. He should be fully functional within the next 4-5 months (at the moment I am on a work term, and I will begin heavy work on the little guy when I get back to school in September.)

Each leg has 2 axes of freedom. The head has 2 axes of freedom. In total there are 10 servos, which will be driven by a PIC16F870 - because I happen to have a few of those spare :)

There will be two fixed range sensors (IR or sonar, I'm not sure) as well as a camera, which will be mounted on the moving head. Additonally there will be touch sensors on each of the legs. The brain will be a PIC18F452, which will act as a virtual machine interpreter that reads a program from a 256k serial EEPROM. The program will be a combination neural/standard controller. The basic motions will be standard "hard" logic, while the high level controls will be executed by a multi-layer feedforward neural network (haven't decided on the exact configuration yet, but it's software, so its easy to change.) There will be a digital compass as well as a 2 axes tilt sensor.

Everything on the robot is made from scratch, from the PCB's (custom etchings) to the mechanical components. The mechanical design was done on SolidWorks, and the electrical design was done with the help of OrCAD PSPICE (student edition :) )

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