Caliban by Mark Fuller

A bigger picture may be found at:

Name: Caliban (The monster from Shakepeare's "The Tempest")
Size: 18" x 13" x 6"
Weight: 15 lbs

    Two motors drive this 24-legged skid-steer robot at speeds 
up to 2.2 miles per hour. Caliban uses a revolutionary drive system
whereby a single shaft operates 12 swashplate/offset bearing/cam drive
systems for each side of the robot.  By changing the phase of each leg
Caliban has eight legs on the ground at any given time. The drive system
gives an ovular trajectory to each foot as it moves through its full
rotational pattern.

    Five onboard processors, including four basic Stamp II's and a
Wilke Tiny Tiger were designed to interfance and control a series of
sonar, infra-red proximity, active bumper, and magnetic sensor units
in order to navigate the robot through any terrain.

    Caliban was built to "see if we could." Mark Fuller of WSU Robotics
was the creator of the mechanical design. Over the course of two months
the robot was designed and constructed using state-of-the-art computer
design, manufacture and simulation technology (as well as a lot of
elbow grease.) Caliban was entered as a back-up in the 1998 Walking
Machine Decathlon in DeKalb, Il. After a feverish night of modifications
inluding ball-catching and ramp climbing contraptions, Caliban "walked"
away with a second place finish. Returning the following year to the
Walking Machine Decathlon in Montreal, Caliban, despite electronics and
navigation system problems, came away with a third palce finish.

    Caliban is now used solely as a sensor test platform and a presentation
tool. Caliban is a favorite among all age school children when we take
him along on our annual school presentation series around the Pacific

    (A version three times the size?....scary...!)


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