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
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
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
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