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This four-legged walker has three servos per leg, uses servo controllers
from http://www.seetron.com
and receives motion commands via a 9600 baud RS-232 tether from a PC.
Servo controller power is an onboard 9 volt battery, and servo motor power
is a 5 volt tether from an old AT style power supply. There is also an
onboard powered Stamp microcontroller from
Parallax that was intended to
receive sensor inputs, but it is not being used.
The robot can walk forward and backward and turn left or right using preprogrammed motion sequences. A 90 degree turn takes about 10 seconds. The script on the right is a snippet from the motion sequence file that the servo controller code loads.
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TicksPerSecond 24
Primitive SwayRight {
servo 2 to 100% in 16
servo 10 to 100% in 16
servo 5 to 0% in 16
servo 13 to 0% in 16
}
Primitive LeanForward {
servo 0 to 60% in 16
servo 3 to 60% in 16
servo 8 to 60% in 16
servo 11 to 60% in 16
}
Movement BustaMove {
SwayRight in 16
LeanForward in 16
}
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Here are some cool inspirational robot sites:
