Hexapod 2

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Hexapod 2

Hexapod 2 is my first 6 legged, computerized robot. The computer I've used is a C. Controller from Conrad. Programming is very easy, looks very much like a standard BASIC language. You'll 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 30 dgr.) to the left or to the right, depending on which side bumped into something. It even makes several sounds (programmed by software).

I've 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 digital 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 I've 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).

 

Some data : C-Control / Basic

Voltage : 5 Volt stabilized ±0,5 Volt
Current : ± 30 mA ( < 10 mA with LEDs off)
Size : 80 x 30 mm ( ± 3 x 2 inch)
Microcontroller : Motorola MC68HC05B6
4 MHz
6 Kilobyte
A/D ports : 8 x 8bit A/D ( 0 - 5 volt)
Digital ports : 16 in / out (programmable)
DCF77 : receiver connection
RS232 port : 9600 Baud, 8 bit, 1 start bit, 1 stop bit, no parity bit, no handshake

 

Do you want to know more about the c-basic program ?

Hit the button !

 

As you may have noticed:

The switches are digital, not analog as mentioned earlier.

 


C
ircuit digital switches

Printed circuit digital switches


Circuit servo-pulser

Printed circuit servo-pulser

Printed circuit base unit