built by Oriol Escote

Target Environment Locomotion Method
Indoors 6 Wheels
Sensors / Input Devices Actuators / Output Devices
2 IR photodiodes 2 IR LEDs
three stepper motors
Control Method Power Source
Autonomous Battery
CPU Type Operating System
PIC Microcontroller None
Programming Lanuage Weight
Assembly 1500g
Time to build Cost to build
about 4 months $25
URL for more information
Hi my name is Oriol Escote.

This is my second robot, and my first attempt at a legged robot. I really built this low-cost robot in preparation for a robotics course project.

NYA is a six-legged robot who has at this time only one function. It moves around in all directions, and changes paths when IR photodiodes detects an obstacle.

While 3 legs are in the air, the other 3 make the robot go foward.

Here is a list of NYA's features:
- a PIC16f84 microcontroller programed in Assembler as brain
- 2 IR LED and 2 IR photodiodes
- a 6v 1.2A/h Panasonic battery
- three stepper motors ( from old Seagate hard disks !!! ) driven by a multiplexed L293 H-bridge.

Specifications (metric) : L 220mm x 200mm x h110mm
Weight : about 1500g

An 6v 1.2A/h battery delivers enough power to walk for several hours ( it depends on the terrain ).

Total constuction time was about 4 months, and I probably spent less than $25 for parts.

For additional information ( pictures, reports, ideas, ... ), you can mail-me at : oriolescote@hotmail.com

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