Table 1 - Suggested Tools
•Electric drill or drill press
•Basic hand and hobby tools
•Basic drafting tools
•1/16th inch acrylic
•1/32nd inch aluminum
•Acrylic double-sided tape, not the
•Weldon™ 3, Acrylic solvent
•Fine tip applicator bottle
•( 12) HS-645MG servos for all leg
•(1) 9 V Lithium Polymer battery
•(1) 6 V Lithium Polymer battery
coreless, digital servos. Of course,
these exist as an option, but why not
use servos that cost 1/2 the price if
they do the job?
its DSP processor.
For those of us who wish to
undertake such an endeavor, be sure
to have the tools listed in Table 1 at
your disposal. In the following
months, Dan will be adding another
10 servos to motivate the head,
shoulders, elbows, and hands.
Presently, there is more than
ample torque to handle the planned
mechanical expansion. Of course,
there is much more to the story. At
this point, SAMM is standing a proud
20" tall, and touting 22 axis' of
motion will be capable of "walking,"
but not walking. The difference is
responding to the environment.
In addition to the planned
mechanical expansions, a bevy of
sensors is also planned. Gyroscopes,
an accelerometer, and force sensors
for the feet are also waiting for their
turn to be brought to life. Torque
sensing on each joint is also within
the realm of possibility.
Walk the Walk
Originally, Dan considered Intel's
X-scale controller as a basis for the
brains behind the extensive brawns of
SAMM. Development was estimated
at several months to a year for all of
the control electronics and software.
That was before the ServoPod™ came
along. At this point, just as Dan was
nearing completion of Stage 1 of his
mechanical platform, Randy Dumse,
president of New Micros, Inc. (creator
of the 'Pod line of robotics controllers
and avid roboticist) came along.
With the addition of some custom software to provide smooth and
accurate trajectory commands to
S.A.M.M.'s 12 servos (soon to be at
least 22 servos), Randy, in Texas and
Dan in Oregon had SAMM walking in
less than 10 hours. This, combined
with Dan's three months of construction time, puts most of us to shame.
IsoMax™, the native language of
the ServoPod, is a very efficient and
innovative language. Coupled with
the vast processing power and hardware capabilities of the ServoPod,
Dan will be hard pressed to over task
Without the sensing, SAMM
would have no idea what it was
doing. It could be lying on its back,
belly, or upside down, it simply would
not know. With the addition of iner-
Circle #103 on the Reader Service Card. 23