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The robot has 6 legs powered by hobby
servos. Each leg has two servos for lift and stroke movements. |
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Here's the 40 pin microcontroller used
to control the leg motions. It controls all of the low level servo
timings, serial transmission/reception, RC receiver interfacing, etc. |
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Battery power is provided by 5, 2.4AH
NiCD cells shown along the bottom in red. |
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In the rear is the 433MHz wireless
serial transceiver and antenna. I'm able to control the robot through
teleoperation using my portable command
center. The next step is to add obstacle avoidance and full autonomous
operation. I'm also working on a standard RC receiver interface for
controlling the robot. |