recent assignment at TRI
Technologies made it possible for me to get back to my
first love, BEAM. Nathulal and Bhola
crawled and wiggled their way into the new world a few weeks
ago. Nathulal is a walker while Bhola is a phototrophic head.
Both are based on the bicore principle.
Nathulal uses a master-slave bicore arrangement
to churn out appropriate walking gait patterns. A detailed
explanation about such an arrangement is neatly explained
site. A few issues related to the leg geometry still needs
to be sorted out, but the overall design is functional.
in the limelight
some leg fixing here
mounted on the shaft
together with a bus
those are the smd leds
Replace the resistors with presets of value 1M5 and adjust
them to get the correct timings.
Bhola is a classic BEAM head that uses phototrophic
bicore to control its movements.
mounted on springs
circuit is dead simple
connections directly soldered on to the main board
base legs were soldered to a small piece of pcb
motor shaft was hot-glued and tied to the base pcb
The motors used in both the bots are miniature geared motors,
rated at 5 Volts, 60ma, 80rpm. Bigger motors will reguire
additional drivers such as the L293D chip.