Z-Walker mk III

built by A. A. van Zoelen


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Target Environment	Locomotion Method
Indoors	4 Legs
Sensors / Input Devices	Actuators / Output Devices
N/A	Servos
Control Method	Power Source
Autonomous	Battery
CPU Type	Operating System
None	None
Programming Lanuage	Weight
None	142 g (excluding battery)
Time to build	Cost to build
Approximately 4 hours	About $40
URL for more information
http://vsim.freeservers.com/walk-kit.html
Comments
The walker was build with the following in mind: easy to build, reliable, robust, not too expensive, battery operated and using common parts. It will be a basic walker without any sensors or a reverse mechanism. You can add these as you like. A complete manual is available on the web site. Functions: The robot was build that is is possible to walk on 4 legs with only two motors and a minimum part count. Specifications Height : 115 mm Width : 160 mm Length : 180 mm Weigth excl. battery : 142 Gram Frontleg swing angle : 90 Degrees Rearleg swing angle : 90 Degrees Speed : 18 sec/metre[ 0.056 m/s ] Power supply : 3-15 V Power comsumption : 100 mA Parts used 1. 2 cheap servo's 2.IC's : 1x 74HC14, 1X 74HC139 3.Capacitors : 4x 0.22uF, 1x 2.2uF 4.Resistors : 3x 1M, 1x 2k7 5.Diodes : 1x 1N4148 6.Other : 2 IC sockets, 2x 5M vario-resistor, LED red, battery holder, power switch Email: vsim@mail.com

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