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The
spider featured in NTU's 20th Anniversary Concert
in July 2001
This robot has 8 legs and 9 BS2SX microcontrollers.
One BS2SX is for each leg and the 9th BS2SX is
for coordinating the 8 legs. It is an omni-directional
robot that walks at a maximum speed of 60cm/sec,
which is not recommended for too long because
the servos get a bit hot and they are expensive
S9450 Futaba servos. Each leg has 3degrees of
freedom so that means 24 servos to control. The
two eyeballs have independent pan and tilt movement
and inside each of the ping-pong balls is a grey-scale
camera. The eyeballs are not functional as yet
because the miniaturised computer vision system
is still being developed. Size
: 14.6 MB
Jialin designed and made this robot himself using
the ultimate in design and manufacturing techniques.
He used A3 graph paper, pencil and ruler and then
built it in the workshop himself using manual
milling machine and lathe. Then he went on to
carry out a mathematical exercise and write real-time
software for its motion. He's now working on a
second improved version.
