IR ATtiny Biped

This is the biped robot I created last year.

Unlike most of the TEDs and BOBs the robot is controlled by an ATtiny85 making it a little more complicated to get stuff like servos working( This awesome library was the solution: http://www.cunningturtle.com/attiny4585-servo-library/).

4 of 5 programmabe pins are used for servo control, the last one is used as an input for an infrared receiver. After a long time of searching the internet for an IR library that works with the attiny I found this thread:

 http://forum.arduino.cc/index.php/topic,17965.0.html

It is not a real library and doesnt work with a lot of remotes but it is doing a great job for my tv remote.

The mechanical part was not a real Problem, the parts are mostly glued together. Unfortunately the double sided tape makes the feet fall off every now and then so I had some problems fixing them for the last video. The balance is still worse than when I built it.

For the electronics I used a piece of breadboard and just soldered everything together. There are no regulators or clocks. While the servos are interfering with the attiny at 5V it works just fine for the 3.3V LiPo.

 

Edit - A few more details:


The parts are cut out from a thin aluminium bar. I first modeled it in Sketchup to see if it looks well. To stop the robot from scratching furniture it has some foam rubber soles. The Attiny can be easily taken out of its socket for programming it via Arduino ISP (http://hlt.media.mit.edu/?p=1695).

The robot moves using functions for balancing on one foot and shifting the legs. Combining those makes it walk.

I thought about programming a function of time to make it more precise to control. But the robot does what I originally wanted it to do so the project is finished. 

A new project is also lined up for this summer which envolves a lot more servos and inverse kinematics. I will post the build here as soon as I have all the parts.

  • Actuators / output devices: TGY-1800A
  • CPU: attiny85
  • Programming language: Arduino

This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/ir-attiny-biped

Dude, the “swoop”!

Ah! One of the best bipeds I have seen in both form and funtion…

That little swoop-swoop with the feet to get rocked to one side is incredible. It is a smooth transition and incredibly beautiful to watch. Man, I am going to have to study that move for a while and see if I can replicate it.

The build is beautiful as well. Simple, small, clean, tidy --no spaghetti. Perfect 10/10.

Yup, I’ll give you like, 97-98% on this one… Fantastic.

Thanks! I was worried first

Thanks! 

I was worried first when I built the robot and it was not able to balance. Kicking it in the air with the other foot does the trick.

Would be funny seeing other robots do this but I dont think TED has those balancing problems.

That’s a great littel walker

That’s a great littel walker and I personally love that Attiny!!!

Please more deatails about the build :slight_smile:

Great work!

The footwork in the first video reminds me of Michael Jackson’s moon walk!

Love it.

Code and schematic please

Hai ,

Is it possible to send me the schematic and the code please

 

Kind regard

 

Really like the walker and I

Really like the walker and I am interested in hearing more.

Do you have any update to the project that you would care to share.