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My first walker with a US quarter:
This robot is a solar bicore walker that does not use a "solar engine" (see note). The circuit and motors are powered directly from the 30 or so milliamps (in full sun) provided by a 37mm x 66mm solar panel. On July 8, 2001 he took his first real world walks showing the ability to walk over rough terrain including through gravel, sand, dirt and some grass. WOW! With his feelers now installed and his new wide traction rear legs, I am very pleased with his overall performance.
| The Incredible Walking Machine makin' tracks.
Testing his feelers on the sandbox wall... and walking in the snow. Tracks movie here. |
| Top view from rear. Laying on his back. |
| Side view showing motors. |
 
| Close-ups. Click here for close encounter.
Front shows feeler details and "terminal block" leg mounts. Rear shows frame detail. |
| This robot uses a master/slave bicore w/reverse. |
| Diagram of tactile sensor construction. |
| Data and Specs: | |
| Motors: | 12 volt Namiki 356:1 gearhead motor. 3ma no load, 20ma maximum @ 3v. |
| Solar Panel: | Panasonic SunCeram BP-376634CN. 3.4v, 31.5ma (operating). |
| Weight: | 4.6 ounces. |
| Size: | 5.6"L x 5.25"W x 2.7"H. (add 4.5" to L for feelers) |
| Speed: | 70 seconds per Meter on smooth level surface. Approx. 1 step per second in full noon sun. |
The motors were salvaged from a discarded CCTV lens that had zoom, focus and auto iris functions. These are extremely nice motors and I wish I could get more like them.