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.

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
5M2_schem2.png .JPG

Eagle .sch file: 5M2 schematic


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.


  • 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


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


  dimension /mm
length 140
width 15



  • Must buy gearmotors to complete robot.

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

  • Finished subframes and battery installation -11/11/2011




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
images/Robots/5M2/IMG_3185.JPG IMG_3186.JPG IMG_3187.JPG
IMG_3188.JPG IMG_3189.JPG IMG_3190.JPG
IMG_3191.JPG IMG_3192.JPG IMG_3193.JPG
IMG_3194.JPG IMG_3195.JPG IMG_3196.JPG
IMG_3197.JPG IMG_3198.JPG IMG_3199.JPG
IMG_3197.JPG IMG_3198.JPG IMG_3199.JPG
SDC10548.JPG SDC10558.JPG SDC10559.JPG
SDC10547.JPG SDC10555.JPG SDC10547.JPG


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.....