Black Marauder by Pete Miles

The Black Marauder is a simple biped robot.  The legs are a 
simple 4-bar linkage to keep the feet motion parallel to the

Walking is accomplised by shifting the body weight over each 
foot as it moves forward. This robot uses two Futaba S-148 
servos for motion. The microcontroller is a Microchip 16F84 
programmed in assembly.  It has four sensors on its feet.  
They are 40 kHz modulated Infrared reflection sensors.
This robot was designed to fit inside a 10 cm square box to 
compete in a mini sumo robot contest.

I have been told by many people that a biped robot can not 
compete in sumo, especially the mini sumo contest. So this became a
personal challenge.

Not only did this robot successfully compete in a mini sumo 
competition, it actually won a match.  The sensors on the feet 
are used to detect the edge of the sumo ring, and find the 
opponent to push out.  The arms on the body side have regular 
LEDs.  They flash on and off to give the appearance of laser 
cannons firing during a match.

It took less than 1 week to build the robot, cost is 
approximately $100 (U.S.)

The only problem encountered while building the robot was writing 
and debugging the entire assembly language program the night
before the contest.

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