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| About site: Robotics/Personal Pages - HexWorks |
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| About site: http://utenti.lycos.it/hexworks/index_en.html |
Title: Robotics/Personal Pages - HexWorks A site about Hamlet, an hexapod autonomous robot.
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Italian Language Version
Welcome aboard!
Let me introduce myself, my name's Davide (nick: MaNCiO) and I would like to rapidly show you
what stuff is this site about.
First of all I apologize for my English writings skills, hope you will understand what I'll try to explain.
This site is an attempt to document, from the design to the implementation phase, the building of an autonomous hexapod robot.
I've seen several of these bots on the Net, someone of which simply awesome. So, few years ago I started thinking '...... what about building one myself??'.
If you have made some research in this direction, or you have made one for real, you certainly know that is definitely not an easy thing to do, particularly if you work and you haven't a lot of spare time!
(This robot is not built by a bored student during his sabbatical year!! ;-))).
Building a robot of this kind is a challenging process, it involves inter-disciplinarity and, why not, a little bunch of money.
But, most important, it requires time...... for this reason don't expect to see in few weeks the videos of the robot actually walking, showing complex behaviors and so on.
Few Infos about MaNCiO: (If you're not interested in this, pass directly to "Today" section)
Building robots has been one of my strongest dreams ever, may be it's just a Frankenstein syndrome, may be is an effort to destroy the remaining few spare time.... but that's it, I always desired that, and actually, I always did it. Ok, with an extreme calm (this robot is the third I built, ....if the first two can be actually called 'robots' !!) as far that the first was built in 1986: it was a 4DOF robotic arm controlled by the (god-bless) Commodore64.
Little DC motors stolen from destroyed_for_that_purpose (!!) cassette recorders and toys that through wormgears gave 'life' to the home-sewed plywood structure.
Everything was controlled by the C-64, throughout relays connected to the 'don't remember the name' parallel port, using pokes and peeks.
I believe that very little has survived of that thing!!! Anyway, his movements weren't properly 'smooth' !!!.
The years passed and I loosed focus on this kind of things until I start my first job as an embedded system designer.
Thanks to my job, I started to develop the knowledge of micro-controllers. The first that I had put my hands on was a COP8, from National Semiconductors: strictly assembly language programming but absolutely a nice machine.
The first summer work-holidays was committed to the learning of the microchip PIC of the microchip PIC
(ok ok... now, in the summer, I tend to relax and not programming micros anymore!!!!).
I built a simple programmer, bought few parts (16C84) from RS Components and, thank to the impressive documentation you can find on the microchip site and the whole net, I became a quite good PIC programmer!! (now I have considerably changed my target but I don't dislike to keep writing software with so few instructions!!).
Anyway, at that moment I had on my hands a minimal home-brew development system and suddenly the idea lighted-up in my mind: LUCYPHER!!!!!!. Please don't get me wrong!!! I'm not that kind of guy, that was the name of my second robot. He was (actually he still IS) an adapted Toyota Land Cruiser (?!?!).
Ok, let me explain you....... one of my passions is (still!) digging thru scaffolds in toy stores (when I was a child this was my favorite sport!) and that summer, one day I found a little wire-guided jeep (no.. that was not the Mercedes-Benz 'drive-by-wire' system!!).
The big exclamation-like writings on the box stated clearly that that stuff has two motors, one for traction (fwd/stop/rev) and one for steering (a very weird steer_completely_left/off/steer_completely_right kind of thing).
Hey! that's exactly what I needed!!!.
Clearly, the cost was a primary costraint, and infact that toy was a bargain (the kind of thing that
modern child never ever observe....).
So, I bought it and I returned home very happily with my brand new toy under my arm!!
The following week, needless to say it, I was submerged by solder-iron smokes and assembly programming of the PIC. Lucypher was born exactly this way, it wasn't fallen from paradise but it raised from a plastic Toyota !!!!!!!!.
Lucypher still works and precisely is an autonomous PhotoVore Robot. Its objective is to move toward the strongest light it sees..... at any cost!!!!
Well, I really can't tell you my emotion when, after I turned off the lights and opened the fridge door, I saw Lucypher pointing in that direction and crashing at full speed into the fridge!! (it hadn't, and it still don't have , proximity sensors!!).
Watching him proceed quickly and deadly toward the light was an adrenaline-rush! My father (the first witness to the miracle) stared at me probably thinking "what's gone wrong in my education?".
Today:
We are in year2k (actually.. is almost finished!) and my target gets bigger. Objective for this year:
Build that hexapod !!!
The fundamental thing to do is without doubts to decide the NAME of the bot (eh eh!):
After have passed asleepy nights on this task, Sonia (my wife and the robot's greatest supporter) picked
a name. So, unanimously, from now on the robot will be called:
Now, I don't want to bother you much with the reasons that lead us to this name but, if you didn't before,
go reading the play of the great William.
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A | site | about | Hamlet, | an | hexapod | autonomous | robot. |
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http://utenti.lycos.it/hexworks/index_en.html
HexWorks 2008 August
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A site about Hamlet, an hexapod autonomous robot.
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