Hi Oddbot - I can’t take credit for the software used in Stomper for this video! I played around a bit the code after I originally constructed Stomper, but then he sat for awhile in my robot “junkbox” for a couple years before I re-built him. The pic had been re-used for something else. So for the video, I gave Stomper a new pic and reloaded it with some code right out of the Insectronics book.
Lucky for you(!) the code file I used for the video is available from the book authors site - http://www.thinkbotics.com/mini-map.bas No doubt you will find some other interesting source files in the website as well! The algorithm itself is actually pretty simple! Stomper stops occassionally after travelling forward a bit and then turns around taking 11 distance measurements while putting the distance and heading values into a couple variables. The variable pairs with shorter distances are discarded. Stomper then turns to the heading with the highest range value and takes off stomping again. What’s nice about this algorithm is it is very simple and can be adapted to almost any kind of robot. You can also stuff the values into arrays and can do things like choose some intermediate distances you want him to go to.
Mr. M - Yep, metal! He is constructed from ordinary hardware store aluminum stock (hobby metal). Nothing special! Just cut to length, drilled, and bolted together. I used pop-rivets on the frame pieces, but for the legs I used bolts and super-glue as there is some tendency for the leg parts to loosen from the stress of movement. I guess I should take/post another photo from above to better show off the construction!
Stomper lives on! I had forgotten how much fun he is to have around and to demonstrate with…
As he says he copied it from As he says he copied it from "Karl Williams "Insectronics" book" I would look there for plans and details on how to build and code.
sonar ranger too near to the floor? When I saw this design, I wondered about it too. The centerline for the ranger is about 5.5cm from the floor. But the near proximity to the floor does not seem to be much of a problem in practice. Stomper reacts to objects within 1/2 meter. Much closer and he turns or backs away.
i have build a similar hexapod but it’s not as nearly moving so fast
have you any explanation for it
i took out all pauses in teh program up to teh point that the servo’s were working anymore as the were moving in one direction while the program already told them differently
Very Nice I have reciently learned of Karl Williams after buying a hexipod vintage 2003 from ebuy. His body constructions are very tough. Not sure what processor to use yet but needs some work. Never saw a 3 motor setup like that. Good job.
That is the fastest little That is the fastest little Hexapod I have ever seen. I have to pick up that book and look at some of the other designs for inspiration sake.
