Let's Make Robots!

MARC Bipedal series

tc  

The MARC series were designed to test various aspects of bipedal robotics.

MARC I was a 1 degree of freedom robot built to test basic balance control.  Consisting of one servo, an accelerometer and a Basic Stamp PIC.  The unit was connected to a laptop for simple PID control.  As MARC I would tip to one side the servo would tilt the upper half to regain balance.

MARC I

MARC II was a 12 degrees of freedom robot built to test basic bipedal movements.  Consisting of twelve servos and a servo controller.  The unit was connected to a laptop for animatronic control of the leg movements. 

MARC II

MARC IIIa was a 12 degrees of freedom robot built to test additional bipedal movements.  Like MARC II, MARC IIIa also had twelve servos and a servo controller.  The unit was connected to a laptop for animatronic control of the leg movements. 

MARC IIIa

MARC IIIb was a 16 degrees of freedom robot built to test additional bipedal & balance movements.  MARC IIIb added two arms containing four additional servos.  A laptop was used for control of the leg movements. 

MARC IIIb

MARC IIIc was the last in the MARC III class and was a 29 degrees of freedom robot built to test advanced bipedal, balance & visual routines.  MARC IIIc added upgraded arms and a camera head.  Adding 13 additional servos made MARC IIIc the most advanced biped in the MARC series.  A laptop was used for video processing, balance monitoring and leg motion control.

MARC IIIc 

MARC V was a full size mockup used for structure analysis.  It was used for selection of motor sizing, sensor placement as well as weight distribution.  Linear actuators were utilized for most joints instead of hobby servos.  The single camera used on MARC IIIc was replaced with twin cameras which allowed for Binocular vision and distance calculations.  At 7 feet, MARC V was the largest in the MARC series.

MARC V

The MARC series spanned over ten years of research & developement.  The lessons learned from the series are now being incorporated in the ADAM series. 

Comment viewing options

Select your preferred way to display the comments and click "Save settings" to activate your changes.
ignoblegnome's picture

Oh, man. That is some serious bots you are working on. I'd love to see some video if you have any you can post.

MARC V looks a few steps away from a Cylon. ; j

Joker94's picture

it must have been hell running all of the sevos wire around the robot. I love the version MARC IIIc. i guess because the asthetics and its purpose.

brilliant Job

OddBot's picture
Looks great, I design robots now for a living but I have to work to a much smaller budget. At least someone is working on the important stuff!