CyberBug

built by Ole-Johan Ellingsen

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Click on an image to enlarge it
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Target Environment Locomotion Method
Indoors 6 Legs
Sensors / Input Devices Actuators / Output Devices
N/A N/A
Control Method Power Source
Radio link to PC Battery
CPU Type Operating System
Sharc DSP N/A
Programming Lanuage Weight
N/A N/A
Time to build Cost to build
half a year about $1000
URL for more information
http://www.ellingsen.net/projects/cyberbug/
Comments
The CyberBug is a six-legged robot that can walk and rotate around its own axis. The six legs have three joints each, and the position of each leg is calculated real-time 50 times per second. To do this, we use a SHARC DSP as the robot's brain.

To control the robot, we have made a PC program (using Borland C++) with witch we can select algorithms, speed, accelleration etc. The communication device is a bidirectional radio link (433 MHz). Furthermore, we have a sonar placed on top of the robot. Thus, we can send data from this to the PC, and generate a "radar-like" image on the PC.

Project features:
- Construction of six-legged (3-joint) robot.
- Construction of bi-directional wireless communication between the robot and a PC.
- Construction and simulation of algorithms (eg. walk, rotate ...).
- Interfacing the servos, the brain (SHARC), lcd-panel, sonar-module & communication unit using programmable logic(Altera).
- Construction of powersupply-card & servo-driving circuit.
- Developing software to controll the CyberBug from a PC.
- Programming source-code for DSP, MCU's, Programmable Logic etc...

Parts used:
- ALTERA PLD
- SHARC DSP
- PIC microcontroller
- FUTABA servos
- etc, etc...

Time, cost:
This was our main thesis at Vestfold College, Norway. So we used about half a year making the CyberBug. I'm not quite sure what the cost was. Probably about $1000 or so.

More info:
To get a better look at what the CyberBug project really was, you can go to the project website and take a look at the pictures and movies.

Email: ole-johan@ellingsen.net

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