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|Target Environment||Locomotion Method|
|Sensors / Input Devices||Actuators / Output Devices|
|12 bump sensors
mercury tilt sensors
|12 servo motors|
|Control Method||Power Source|
|CPU Type||Operating System|
|Time to build||Cost to build|
|approximately 8 months||see comments|
|URL for more information|
|This is my six legged walking robot or hexapod called MHEX,
meaning "Mikaels Hexapod". I started building MHEX early in
2001 at the age of 15. MHEX uses 12 * 5kg/cm servo motors
controlled by a 16F84 PIC running @ 4mHz. MHEX has 12 channel current sensing system for touch/bump/obstacle detection. There is a ccd camera and sonar ranger mounted on a servo pan/tilt system for vision and distance feedback. MHEX has rubber feet and has a body made entirely from scrap aluminiun.
MHEX took me about 8 months to plan and build and get walking for the first time. Mhex can now walk up shallow stairs on his own without me commanding it and can detect obstacles in the way, he can carry an extra 4kg of weight while drawing about 2 amps in 'slow walk' mode.
The servo motors and ccd camera were the only things that really cost me anything as the scrap aluminium was traded for scrap copper piping. The servos were $28.50 ea minus the 2 on the pan/tilt system and the ccd cam was $92 in New Zealand Dollars.