AmitNv | 5M3b

BEAM Robotics- based on Nervous Network Technology

5M3b is a 5 motor walker based principally on the bicore structure, contrasted with the prior 5 motor walker which used a standard microcore,
There have been at least 2 other bicore based 5-m walkers that I know of, the P5V2 and one built by Grant.

5M2

This robot has 2 distinct neural layers. The primary layer consists of the bicores necessary to generate the walking gait. This is a multi-master set up with two slaves.
The second layer is the sensory layer Consisting of 5 Nu's to process the forward tactile sensors 3Nus for the rear tactiles and 2Nus for the lateral tactiles.
The visual cortex consists of a PSH monocore which can be toggled by a 2NV chain to be light or dark seeking and 2 Nus to smooth the output pulses.
This layer is likely to increase in size as I continue to build the bot. I am considering adding a peripheral vision function among other things.

Indeed the net can be pared down, but it's not my style, I like to have things to play around with. ICs are quite inexpensive, so throwing around a few extra inverters is not an issues.

5M2 Schematic	5M2 Planform

Eagle .sch file: 5M2 schematic

CONSTRUCTION

5M2 was built with what ever could be found at the time. The resistors, eyes, a socket, diodes, and capacitors were salvaged from a VCR.

Materials:

Case cut from DVD player chassis [top and bottom covers]
Brass terminal blocks [motor-shaft mounts]
Brass welding rods [legs]
Chrome-steel Paper clips [head]
Fine brass wire (tactile sensors)
Brass tubing (tactile sensors)
Gearmotors [salvaged from scrap, but SB sells them], modified Eflite S75 servos [removed electronics only, cut casing].
Perf Board [isolated pads, a scrap end cut from a previous project]
IDE cable [connecting wires]
Li-Po pack assembled from assorted Lipo cells

Features:

Crab-walking, hard turning, reversing, turn and reverse, phototaxis, running

Dimensions:

	dimension /mm
length	140
width	15
height

Weight:

Updates

Must buy gearmotors to complete robot.

Finally bought motors to complete 5M2 - 11/07/2011

Finished subframes and battery installation -11/11/2011

5M2

Pictures:

Well here are some pictures of the robot. All you need to do is to click on the picture and a pop-up window will load showing it to you! These are very hi resolution phots, I think 2048 x 1537. Enjoy and there are many more to come.

These photos are at the moment only of the robot during it's construction phase later on, I will add the completed machine.

5M2 Photographs

Videos

Pictures are worth 1000 words, but just how much is a video? Well that depends simply on the fps of the movie, so as each frame is a picture, simply carry out this calculation: words= (fps x movie time in seconds) x 1000.....

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5M 2

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