Six-Legged mobile robot with obstacle detection whiskers and
Video Capture Camera

Functions: Moves around in all direction, changes paths when
whiskers are bumped with obstacles.. Can walk in tripod, wave,
and ripple gaits.. Can simulate cradle, swing motion, dizzy,
push- ups and even dance around- according to predefined program

Parts used:
Electronics- 2 SSC's, Hobbico Servo motors,
Mechanical- locally fabricated materials.

Outdoor robot

Built mostly with recycling parts. Driven by 2 car wiper motors on about 17 Volts. Direction change
by a third wiper motor in the middle to change the angle of the two halves of the chassis; it works
with a steel rope that is wrapped around the motors shaft, can just be activated while driving
because of self-destruction risks.
The wheels are from a lawn mower. The rear wheels were fixed on a tilteable axe and fixed on spring
Power supply by two 12V lead rechargeables batteries in series (7 Ah each).
A main PWM-circuit stabilizes the motor voltage two around 17 Volts.
Controlled by an 8052AH-BASIC-Evaluation board from Elektor magazine. Most other circuits self
developed and built, 2 kits assembled. Can receive commands by a TV IR-remote control, an RC5-code
receiver is used.
2 Bumpers with microswitches on the front end, two on the rear and two in the middle for the
direction motor.
2 IR-Diodes on the front an one IR-modulated receiver (38 kHz). Ultrasonic obstacle detection on the
It got some obstacle detecting and avoiding routines, but had lots of problems with his own weight.
The remote control was quite unuseable when the sun was shining.

Email: gklares@ara.lu

Ir ArmBot

The Ir Armbot is a simple robot arm driven by 2 standard servos
but controlled by an ir remote , sending serial information via
an ir diod to a reciever that uses a stamp 1 to decode the signal.
The code generator is also an stamp 1 , built in the remote.

Used parts :

2 9V batteries
1 6V batterie pack for the servos
3 switches
6 buttons , but 4 for the moment
1 stamp1 microcomputer
2 hitec servos HS300
2 small plastic boxes
1 Gripper
1 ir diod
1 ir reciever sharp GP1U5


Barbot was first a photropic design but evolved into a
whisker driven unit. Barbot uses a PIC16C84 brain programed
through a PicBasic Pro compiler. For motion the Barbot uses
two hacked servos with RC airplane tires. The whisker
sensors ride on pingpong balls attached to pieces of
welding wire that pivot on a shaft. When the ping pong
balls drop (edge of the bar) or raise (the bar counter
lip) the ir beam is broken and the PIC turns the Barbot
the other direction. The ir sensors are from an old mouse.

Email: awilson@pacifier.com


Pocket-Bot is a miniature low cost robot offering a standard
commercially available platform for virtually any miniature robotics
application. This advanced robot is driven by a long lasting 9 volt
alkaline battery, also powering an easily programmed on-board BASIC
STAMP II microcontroller. The Pocket-Bot has built in shaft encoders,
obstacle detect bumpers,independent left and right four wheel drive.
A large prototyping area allows users to easily add custom circuitry
for specialized applications. Pocket-Bot has proven to be ideal for
use in collective behavior research, AI studies and autonimous
robotics experimenting.

Size: .
Length 63 mm ( 2.5in )
Width 48 mm ( 1,7/8in )
Height 38 mm ( 1.5in )
Weight (w/o battery, with computer) 48 g.

Power: .
Drive and Computer One 9 volt alkaline battery
Typical Current Draw 200 mA
Typical Battery Life 1 hour

Microcontroller: .
Basic Stamp II ref: Parallax Inc. BS2-IC
I/O Pins 16 total, 8 non-dedicated
Ram (Variable Space) 256 bytes
EEPROM (Program Space) 2K bytes (tokenized)
Programming Language PBASIC
Documentation supplied with BS2-IC

Drive System: variable
Fastest 20 cm/s (approx.)
Slowest 4 cm/s (approx.)
Steering Differential
Drive Wheels 4
Encoder Resolution 3.0 counts/cm

Prototyping Area: .
Size 40 mm x 28 mm
# Through Holes at 0.1" Spacing 175

Email: support@divent.com