Hexapod 2

built by Math Vos

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Target Environment Locomotion Method
Indoors 6 Legs
Sensors / Input Devices Actuators / Output Devices
bump sensors R/C servos
sound output
Control Method Power Source
Autonomous Battery
CPU Type Operating System
N/A N/A
Programming Lanuage Weight
N/A N/A
Time to build Cost to build
Fl 500,-- (220 US dollar).
URL for more information
http://home.wanadoo.nl/m.m.avos/hexapod2.htm
Comments
Hexapod 2 is my first 6 legged, computerized robot. The computer I?ve used is a C. Controller from Conrad. Programming is very easy, looks very much like a standard BASIC language. You?ll only need this computer board and a serial connection to your PC, no further hardware is needed. Total cost of this board (with cable and software) : Fl 120,-- ( 50 US dollar) Together with the C. Controller you get two floppies , one for working with DOS and one for working with WINDOWS. At this stage of the development Hexapod 2 walks until it bumps into an obstacle, backs up for five steps, and then changes direction (angle about 300 ) to the left or to the right, depending on which side bumped into something. It even makes several sounds (programmed by software). I?ve used three power servos (HITEC HS700 /700BB ), each with a torque of 9.8 kg/cm. So it has enough power. With some electronics (CD4001), six different pulses are produced for moving the servos, they are regulated by variable resistors. Depending on the movement wanted, the C. Controller connects one of these pulses with three analog switches ( CD 4051) to the three servos, so they turn in the new position. In this way each servo has three positions: backward - neutral - forward or high - neutral - low. An 4,8V / 4Ah accumulator delivers enough power for walking several hours. At this time I?ve replaced the yellow accumulator by a smaller one (4,8V / 0,25 Ah) to give power to the electronics and the onboard computer. At my homepage you?ll find more information, an example of a program and several pictures of this robot. You?ll also find more information, pictures and circuits off the bots (BEAM) and RC model boats I?ve build in the past years. Email : m.m.avos@wanadoo.nl

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