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.
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