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.