Robot Berkaki Menggunakan 1 Servo Motor

Incline Feedback for the Toddler® Robot Appeared in the 2003 Product Catalog.

Gambar ini diambil dari situs : http://www.parallax.com/tabid/351/Default.aspx

Toddler® Robot buatan Parallax ini bisa berjalan hanya dengan sebuah motor servo. Menarik bukan?

Berikut deskripsinya :

Incline Feedback for the Toddler® Robot

Appeared in the 2003 Product Catalog.

Determining Optimum Tilts Shouldn’t be a Guessing Game

The Toddler® robot walks using a series of tilt-stride movements. First, the robot tilts left or right then raises the opposite foot. Next the foot moves forward to take a step. Turns are accomplished by sliding both feet in opposite directions. The tilting movement is accomplished by setting right and left leaning limits which must be set far enough to raise the opposite foot off the ground, but not so far as to fall over. This is normally accomplished through an iterative process: plug in a servo limit; run the code and try again. But if the Toddler robot steps on a couple of LEDs then you could have a problem.

For this project you need the following parts:

• Toddler robot
• Memsic 2125 Accelerometer (#28017)

With an accelerometer, it’s easy to check the tilts between each servo pulse. Set the left or right limits as far as you wish. Using the PULSIN command check the accelerometer during each servo loop. Once you’ve received three or four tilt values beyond your threshold (escVal) then branch to the routine which moves your Toddler back the other way.