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This robot developed during a practical course "mobile robot" at the University of applied sciences Hamburg. The actual task of this practical course has however nothing to do with this robot (see drop collector). It's developed beside.

 

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This robot runs straightforward until it encounters an obstacle with its "feelers". Then it goes back a few steps, turns a little and goes further straightforward.

 

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The robot carries the RCX in its belly. Since the RCX has unfortunately only 3 inputs, I had to put the two buttons of the "feeler" on a common input (input 2). Therefore the robot can unfortunately not differentiate whether it pushed on the left side or on the right side against an obstacle. Therefore the small robot always turns to the right.

 

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The problem with the structure of such 6 legged robot is, to synchronize the two pairs of legs in such a way that always three legs are on the soil. I solved that by inserting two buttons inside the robot, which are pressed with the position, with which all three legs of this side are on the soil. If the robot is going now, the pair of legs which button is pressed first waits for pressing the button of the other side. Thus the next step is only then executed if both sides achieved their basic position. Here it is to be noted that during basic position (the button is pressed) the one side has two legs forward and the other side only one leg forward, so that with each step three legs (and not 2 or 4 legs in change) are at the soil.

 

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In this photo (and the previous) you can see, how this problem is solved using an excenter and a button and how this was mechanically implemented. For further details please regard all photos or email at Rainer.

 

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The RCX is held by 4 axles in the belly of the robot. These axles were shortened by us a little, so that they do not hamper out side.

 

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The "feelers" can be phased out in one piece.

 

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Here you can see the two buttons used for the "feelers"

 

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