built by Walter A. Martinez

Target Environment Locomotion Method
Indoors 2 Wheels
Sensors / Input Devices Actuators / Output Devices
Light detectors
Hacked servos
Control Method Power Source
Autonomous Battery
CPU Type Operating System
Cricket Microcontroller N/A
Programming Lanuage Weight
Time to build Cost to build
3 weeks (2 to 3 nights a week) $180
URL for more information
This robot was designed to possibly compete in the MicroMouse competition or just to experiment with. For MicroMouse general info see

I tried to create this robot based on the Lego theory of being able to interchange parts (in this case sensors) to suit the task of the robot. I created modules of sensors (light detectors, sonar, IR, whiskers or switched, potentiometers and others)that can be inserted on any I/O of the Cricket board and depending on the software it would have different reactions to its environment. This allows me to experiment more and test for different scenarios. The robot will be able to do collision avoidance, light tracking/avoidance and other random behaviors.

small - smaller than a CD. Appox 10cm x 11cm

Parts used
Many parts from the Digi-Key catalog, including Plexiglass for the chassis, plastic and metal stand-offs, nicad batteries, old (very old) servos, tires from an old 1980's toy, and most important the Cricket Microcontroller and IR Whiskers - detects left and right obstacles for collision avoidance (soon to be installed, not shown on picture) For information on this excellent and mulitfunctional board see: The board was originally designed for a cricket robot, but it can be easily modified to work on any kind of robot.

Problems encountered
Since the servos I used are very old, they were more difficult to modify and calibrate to work with the new electronics that I interfaced it with.

The robot is not complete but it will be by the middle of April.

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