The Caterpillar (production prototype)
@ May 15, 2009
- Actuators / output devices: 8 minature servos, 4x 3mm LEDs. Bi-colour LEDs on antenna
- Control method: Autonomous and IR remote. Optional serial input for Xbee
- CPU: Picaxe or Atmega 8.
- Power source: 4x AAA NiMh 800mAH.
- Programming language: Picaxe basic or C depending on processor
- Sensors / input devices: Antenna, tilt switches, IR reciever. Optional IR or sonar range finding.
- Target environment: easy terrain
| Attachment | Size |
|---|---|
| Caterpillar_Main_Board_Schematic.jpg | 542.03 KB |
| Caterpillar_sensor_boards.jpg | 908.67 KB |
| CATERPILLAR_China.BAS | 3.97 KB |
Caterpillar Evolution video shows how this project has gone from a simple hobby robot to a mass produced robot. The first clear ABS caterpillar is now up to mischief in China :D
Update 3 of July 2009
Well the first prototypes came out of the factory and of course some calibration is always required. DAGU contacted me to say they had a problem. It seems the program needs calibration to work with the new roll sensor as resistors can vary slightly even when they are all marked as the same value. Consequently the caterpillar constanly thinks it has fallen over and needs to get back up. The end result is quite funny :D
Whoops!, my mistake :0
I specified a different analog input in the schematic to what was being used in the program.It's all fixed now :D
I have posted some pictures if the new circuit boards used. The Antenna now use springs where I had wire, this is a big improvement as occasionally the wire got bent when stuck in a corner or getting back up on it's feet. Once the wire was bent it kept thinking it had hit something.
The IR sensor has been moved to the top of the roll sensor board so that it can recieve IR better.
@ Sat, 2009-07-04 23:19
nice design
@ Sat, 2009-07-04 14:38
Wow!
@ Sat, 2009-07-04 15:01
To be honest
@ Fri, 2009-07-03 18:19
Realistic.
Simply gorgeous. In the first video the caterpillar seems like a poisoned animal... its not very funny because the scene is quite realistic. In the last one the caterpillar work very good, it has realistic movements. I'm wondering which sensor(s) you use to verify if the bot is "standing" or if its lying on side.
Congratulations
@ Fri, 2009-07-03 23:56
roll sensors
Nothing expensive or fancy. The roll sensors are just 2 mercury switches set up in a voltage divider circuit to give an analog output. I'll post pictures of the boards and a schematic.
@ Fri, 2009-07-03 08:01
Funny!! Could program it as
Funny!!
Could program it as tamagotchi, where one variable was "Feed it with wine" :D
@ Fri, 2009-07-03 11:34
that could be easily done
@ Fri, 2009-07-03 07:44
LOL!
@ Fri, 2009-07-03 08:00
I was impressed
Sure I programmed it to get on it's feet, I didn't know it was capable of completely rolling over :P
It reminds me of a caterpillar being attacked by ants.
@ Sat, 2009-05-16 21:07
Congratulations OddBot!
Congratulations OddBot!
Looks really good, the antennas with the leds are great and the way the bot gets up after falling is awesome!!
I'm sure I will build one as soon as the kit is released!! ;-)