built by Mark Fuller

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* * * * * * *
Target Environment Locomotion Method
Indoors 24 legs
Sensors / Input Devices Actuators / Output Devices
IR proximity detectors
active bumpers
magentic sensors
Control Method Power Source
Autonomous Battery
CPU Type Operating System
BASIC Stamp None
Programming Lanuage Weight
BASIC 15 lbs
Time to build Cost to build
three months N/A
URL for more information
Name: Caliban (The monster from Shakepeare's "The Tempest")
Size: 18" x 13" x 6"
Weight: 15 lbs

Mechanics: Two motors drive this 24-legged skid-steer robot at speeds up to 2.2 miles per hour. Caliban uses a revolutionary drive system whereby a single shaft operates 12 swashplate/offset bearing/cam drive systems for each side of the robot. By changing the phase of each leg Caliban has eight legs on the ground at any given time. The drive system gives an ovular trajectory to each foot as it moves through its full rotational pattern.

Brains: Five onboard processors, including four basic Stamp II's and a Wilke Tiny Tiger were designed to interfance and control a series of sonar, infra-red proximity, active bumper, and magnetic sensor units in order to navigate the robot through any terrain.

Background: Caliban was built to "see if we could." Mark Fuller of WSU Robotics was the creator of the mechanical design. Over the course of two months the robot was designed and constructed using state-of-the-art computer design, manufacture and simulation technology (as well as a lot of elbow grease.) Caliban was entered as a back-up in the 1998 Walking Machine Decathlon in DeKalb, Il. After a feverish night of modifications inluding ball-catching and ramp climbing contraptions, Caliban "walked" away with a second place finish. Returning the following year to the Walking Machine Decathlon in Montreal, Caliban, despite electronics and navigation system problems, came away with a third palce finish. Present: Caliban is now used solely as a sensor test platform and a presentation tool. Caliban is a favorite among all age school children when we take him along on our annual school presentation series around the Pacific Northwest.

Future: (A version three times the size?....scary...!)


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