Kris Schneider - "BotBoy"

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Kris Schneider - Delano, MN
Web Site: www.usfamily.net/web/botboy60/index.htm

Quadraped

• Type: 4 legged walker
• Purpose: Pre-school pants wetter, cool looking robot at Twin Cities Robotics meetings.
• Controller: My desktop or my ancient Zenith laptop via RS232, soon to be a BotBoard (www.rdrop.com/users/marvin) when I get the gait mastered.
• Software Development Environment/Methods: I use the Lynxmotion software to position servos, but I am working on a BASIC program for walking.
• Sensors: None yet, but I want to add foot sensors and a video camera (just to see the robots point of view) and IR prox. sensors.
• Actuators: Legs(4) with assorted servos
• Height, width, length: About 1.5 ft tall when standing, 2 ft wide, 1'1" long
• Weight: ~10 pounds, batteries installed
• Power source: 4 AA's and a nine volt, but I intend to upgrade the AA's to regulated RC car packs.
• Speed: Will be slow. when I get it done. I want to be able to catch it 8-)
• Other:
  Brain: Scott Edwards Mini SSC Ver2. ( www.seetron.com/ssc.htm ) I got it from www.lynxmotion.com.
  Frame:1/4" and 5/16" solid bar stock, welded using wire feed welder
  Joints: 5/16ths nuts/bolts
• Contruction history: I saw someones 6 legged bot at the may 1998 meeting. I liked the design approach, but I only had enough servos to make 4 legs. So I started off by selecting some bar stock to build the frame. I used some woodshop angle holders to hold the frame together and started welding. By June 15th, I had the frame and the front legs finished. The rear legs were just 1 angle stock piece for holding the nuts (bearings) on. By June I had the rear legs done, but realized the problem of balance with only .25" x .25" footpads. So I welded on 6 inch long pads perpendicular to the legs. I coated them with liquid under coating, a mistake I will never make again. The crap flaked off and stained everything AFTER it was dry. Now I am trying to calibrate the servos and write up a walking program. 10-24-98
• Status: Mechanically done, but still has electronics and programming to be done [Update - dissasembled heap in parts bin. parts from v1.o will help build "gregori", version two (you'll see it on jeff's site sometime soon)]