Hexapod 2 by Math Vos

Hexapod 2 is my first 6 legged, computerized robot.
The computer Iíve used is a C. Controller  from Conrad.
Programming is very easy, looks very much like a standard
BASIC language.
Youíll only need this computer board and a serial connection
to your PC, no further hardware is needed.

Total cost of this board (with cable and software) : Fl 120,-- ( 50 US dollar)
Together with the C. Controller you get two floppies ,
one for working with DOS and one for working with WINDOWS.
At this stage of the development Hexapod 2 walks until it
bumps into an obstacle, backs up for five steps, and then changes
direction (angle about 300 ) to the left or to the right,
depending on which side bumped into something. It even makes
several sounds (programmed by software).

Iíve used three power servos (HITEC HS700 /700BB ), each
with a torque of 9.8 kg/cm. So it has enough power.
With some electronics (CD4001), six different pulses are
produced for moving the servos, they are regulated by variable
resistors. Depending on the movement wanted,  the C.
Controller connects one of these pulses with three analog
switches ( CD 4051) to the three servos, so they turn in the
new position. In this way each servo has three positions:
backward - neutral - forward  or  high - neutral - low.

An 4,8V / 4Ah accumulator delivers enough power for walking
several hours.  At this time Iíve replaced  the yellow accumulator
by a smaller one (4,8V / 0,25 Ah) to give power to the electronics and the
onboard computer.

Total costs almost Fl 500,-- (220 US dollar).

At my homepage youíll find more information, an example of a
program and several pictures of this robot. Youíll also find more
information, pictures and circuits off  the bots (BEAM) and RC
model boats Iíve build in the past years.

Homepage:  http://home.wanadoo.nl/m.m.avos
Email      :  m.m.avos@wanadoo.nl

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