Walky the Biped Robot - WalkyII the final chapter.

genebren

14 Aug 2018

Previous post in the sequence:

Walky the Biped Robot - The prequel

Walky the Biped Robot - Power pack

Walky the Biped Robot - Oops, Walky has an accident!

Walky the Biped Robot - A new hope (actually a new body and battery)

Walky the Biped Robot - WalkyII gets some eyes.

Walky the Biped Robot - WalkyII gets a new brain

Walky the Biped Robot - WalkyII is learning to walk again!

Walky the Biped Robot - WalkyII is learning to walk again! (part 2)

This has been a very fun adventure for me. First, it was my first element14 contest entry. And secondly, this was a project in the making for more than 16 years. When I first saw the Project14 - Movers and Shakers contest announced, I knew what I would do. I have never seen a more fitting project for this category than my WalkyII project, as WalkyII (and his namesake Walky) is truly a mover and a shaker (sometimes there is a whole lot more shaking than moving). This is my final entry before the contest deadline, but I do plan to continue blogging on the project as I get time and have significant updates. I have thoroughly enjoyed the comments and suggestions that have been offered by the element14 members.

As a final proof of my project I have a few videos attached at the end of this blog entry. To provide construction details (schematics, code, drawings), I have the following links and downloads:

PowerPack - The schematics and board layouts are shown in Walky the Biped Robot - Power pack. The code for the PowerPack is attached at the end of this blog entry.
Servo Controller board - The schematic and board layouts are shown in Walky the Biped Robot - WalkyII gets a new brain. The code for the Servo Controller boards is attached at the end of this blog entry.
Video Proof video(s) - There are multiple videos that I have attached to show WalkyII in action.

So, here are my video proofs:

Code for PowerPack and Servo Controller boards.

All of the code (attached below) for the WalkyII project was written in CodeVisionAVR (3.31). In both boards an ATMEGA328PB processor is the main processor.

Thanks to everybody who followed along through the development of my Movers and Shakers project.

Gene

Attachments:

PowerPackCode.zip
BiPedCode.zip

Top Comments

genebren over 6 years ago in reply to ntewinkel

Nico,

Thank you for the kind words, I has been a lot of fun to do, I learned a lot in the process and I would gladly do this again (after a break). I was very happy with the I/R distance sensors, they were very easy to work with, and adding them to project was just the beginning. I would like to add a third board on top of the servo controller board (magnetometer, accelerometer, some form of wireless and some other sensors) to try some autonomous control. But first, I need to be able to improve the walking/turning.

Thanks,
Gene
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genebren over 6 years ago in reply to fmilburn

Frank,

Thank you! The project did sort of grow in scope (especially all the 3D printed parts). I just didn't have the time or the energy to re-print Walky's feet, but I do kind of like that fact that I had the opportunity to upscale some cardboard. I still have some thoughts on what to try next, but for now a bit of break.

Thanks,
Gene
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genebren over 6 years ago in reply to three-phase

Donald,

Thank you for your kind words. I am glad that you enjoyed the content, as I really enjoyed creating Walky and the content. too.

Thanks,
Gene
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ntewinkel over 6 years ago

What an fun and excellent project, Gene!
I second Shabaz - the object and edge detection is really impressive!

Cheers,
-Nico
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fmilburn over 6 years ago

Hi Gene - that was a fun project with lots of pieces to get to the end. I’m glad you persevered after all that time and enjoyed following along.
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