built by Lenny Urbano

Target Environment Locomotion Method
Indoors 2 Wheels
Sensors / Input Devices Actuators / Output Devices
photo-electric sensor
condensor microphone
tactile sensor switches
modified Futaba S3003 servos
Control Method Power Source
Autonomous Battery
CPU Type Operating System
BASIC Stamp None
Programming Lanuage Weight
Time to build Cost to build
2 days $145
URL for more information
TIKE is a small 2-wheeled robot utilizing differential steering for navigation. Using 2 Radio Shack project box covers, I glued 2 modified futaba S3003 servos for continuous rotation onto a metal cover and screwed a 5 inch screw through both plates and bolted them off. I fashioned a circuit board deck by cutting a 5 1/2" by 4 1/2" rectangle of plexiglass and mounting it on the remaining 5 inch screw clearance. Adding a grid of velcro strips on the deck to ease the robots construction aided its modularity.

TIKE's brain is a Parallax Basic STAMP I with a single 8 I/O pin port. 4 lines are required for driving TIKE's high power H-bridge motor control circuit(MOSFET). 2 of the remaining 4 pins are utilized by tactile sensor switches. This leaves only 2 pins for other sensors/ actuators. I'm working on implementing photo-electric (cadmium sulfide) sensors and a condensor microphone so that TIKE will exihibit a roach-like behavior: wandering around aimlessly until a loud noise scares him into finding a dark place to hide, and only returns to wandering after a considerable time of silence.

TIKE cost me 30$ for both servos, 40$ for the high power H-bridge, $65 for the BASIC STAMP I and the carrier board and about 10$ in plastic and plexi-glass plates and screws and bolts. A total $145. Though I'm sure if were to manufacture all the circuitry myself and substitute an MC68HC11A controller the cost would be around 60$. This is my first wheeled robot, I thought it turned out great considering I took only 2 nights to build it.

The only problems I encountered with TIKE were power management and tire traction. I initially let him roll on the plastic Futaba servo horns which caused him to slip severely on my tiled floor. I tried putting a thin layer of glue around the edge, which worked, until it started getting worn away and stringy. I got the idea to glue on a KINEX plastic wheel that has a rubber edge after seeing my brother play with it. The traction is excellent.

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