Bipedal Autonomous Walking Robot (Front View)
2,217 views since 2008-02-29
Mechadon is one of my on-going hobby robotics projects that I've been working on over the last 6 years. It has 12 degrees of freedom (6 per leg) and uses R/C servo motors for actuators. The "brain" is a parallel processing system using thirteen PIC16F84's (a relatively small 8-bit Microchip micro). It senses the world using a 2-axis analog tilt sensor in the head and 8 analog force sensors on the toes. The whole robot stands 18" tall and each foot is 4". It weighs about 6lbs. All computation is carried out on-board and the power supply is designed to be operated from a battery for totally autonomous operation. Like a human gait, the robot shifts its weight between feet and picks up its foot at the appropriate point in the step. All of the motions are based on sensor input (i.e. - no elaborate pre-programmed sequences of motion). Because of this, each step is slightly different than the last due to sensor error, mechanical slop in the linkages, etc...
| URL: | http://home.ctlnet.com/~mechadon/mechadon.htm |
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