BSsx Hexapod with full, 360 degrees of motion

vanmunch · January 16, 2010, 3:30am

Hey all,

I recently built a AH-3 from Lynxmotion (with all right legs), but I wasn’t familiar with the Atomic Pro and SSC-32 servo controller so I’ve replaced the electronics with a BS2sx and duel Propeller servo controllers (inside the body) from Parallax.

The robot is running a program that uses the Ping))) sensor mounted on a servo to check to see if the path is blocked. If it is then it looks back and forth until it finds an opening. The program then translates the position of the “Ping))) servo” to the necessary movements required in the legs. There are no preset directions and it is always looking in the direction that it is walking with full 360 degrees of movement.

Anyhow, let me know what you think. It was a lot of fun doing and I can’t wait to take it apart and start working on it some more.

inside: youtube.com/watch?v=hl98WNt4ijQ
outside: youtube.com/watch?v=K-0Ti-C330w
(It was very cold (Iowa) and yes, I stole the scarf from a teddy bear. It’s a tough world.)

Or search YouTube for “vanmunch36”
P.S. special thanks to “robot7” for pointing out why it wasn’t walking correctly with the AtomPro and PowerPod.

puttputt · January 16, 2010, 4:19am

Hey, it looks good

sn96 · January 16, 2010, 1:25pm

Very cool!

It’s always interesting to see people using other MCU brains to make their bots come alive. There aren’t to many BS2sx powerd hex bots out there using the SES system, so it was interesting to see your bot walking using this type of MCU.

vanmunch · January 22, 2010, 8:17pm

Hey Putt Putt & SN96,

Thanks for the good word! I choose the BS2sx because I had started learning about robotics about 2 years ago with the little boe-bot and PBASIC. I had thought about using the AtomPro, but my ultimate goal is to eventually use the propeller so I figured that I’d just try it with the BS2sx. It took a lot of time and was a lot of fun getting the code right and fitting inside.
Anyhow, if anyone is interested in the code and would be willing to share their improvements on it, let me know. I’ve also attached a couple of more pictures on the configuration.

Have fun!
Dave