Black Marauder

built by Pete Miles

Target Environment Locomotion Method
Indoors 2 Legs
Sensors / Input Devices Actuators / Output Devices
40 kHz modulated IR sensors Futaba S-148 servos
Control Method Power Source
Autonomous Battery
CPU Type Operating System
Microchip 16F84 None
Programming Lanuage Weight
Assembly N/A
Time to build Cost to build
Less than a week $100
URL for more information
The Black Marauder is a simple biped robot. The legs are a simple 4-bar linkage to keep the feet motion parallel to the floor. Walking is accomplised by shifting the body weight over each foot as it moves forward. This robot uses two Futaba S-148 servos for motion. The microcontroller is a Microchip 16F84 programmed in assembly. It has four sensors on its feet. They are 40 kHz modulated Infrared reflection sensors. This robot was designed to fit inside a 10 cm square box to compete in a mini sumo robot contest. I have been told by many people that a biped robot can not compete in sumo, especially the mini sumo contest. So this became a personal challenge. Not only did this robot successfully compete in a mini sumo competition, it actually won a match. The sensors on the feet are used to detect the edge of the sumo ring, and find the opponent to push out. The arms on the body side have regular LEDs. They flash on and off to give the appearance of laser cannons firing during a match. The only problem encountered while building the robot was writing and debugging the entire assembly language program the night before the contest. Email:

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