Biped Robot Walks

Sunday, November 25 2007 @ 01:58 AM CST

For years I have been procrastinating about building a robot toy and have finally put something together. Yesterday, it took it's first walk:

This little biped stands at 16 inches high and has 4 degrees of motion to animate itself. There are some really neat features in the bot including:

• Onboard controller is a PIC18F2520 running FlashForthV3.1 .
• Bluetooth link to command/development system computer.
• State Machine driven walk engine.

This project is going to provide plenty of winter challenges for me. Some of my priorities for implementation are:

• Design an on-board "buck" switcher to regulate down to 6v from LiPO cells that can be seen on feet.
• Incorporate exponential acceleration deceleration routines for servo slewing.
• Incorporate IR receiver routines I've written for the 18Fnnnn to home on a charging station.

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