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Queen Ant
Watch the movie of Queen Ant here (mpg, 2.64MB): Launch Queen Ant Hexapod Robot Movie
Download the project writeup here (PDF): Get Queen Ant Hexapod Robot Writeup
Above you can see the final pictures of Queen Ant on demonstration at the University ready for marking.
Queen Ant is a six legged (hexapod) phototrobic walking BEAM robot, it was built for my Year 2 project at the University of Liverpool. Building this robot along with myself were Stuart Fraser and Paul Rimmer. I am intending to take this design even further for my final year project.
The PDF document available for download (top) details the circuit and the thinking behind the robot. J Wolfgang Goerlich has also created a Biomorphic map for Queen Ant which is avaiable Here.
Summary of Queen Ant:
Queen ant is a fully functioning BEAM hexapod robot, she walks and turns with six legs. To achieve the walking gait for a hexapod a Bicore circuit has been used to create a Central Pattern Generator (CPG). The pattern
generated is repliacted in each section of the hexapod but at different time delays. This results in a true BEAM robot hexapod!
To achieve phototropic turning in Queen Ant we have used the herbie robot circuit essentially, however it has been duplicated in order to run a single motor in two directions. The single motor is attached to the front legs via
elastic bands, this allows us to manipulate the centering of the legs, giving a turn.
It was great fun creating a beam robot hexapod, and taught me a lot of useful things for my next project, RADAR.
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