LEGO Johnny 5 (RCX)
September 16, 2005
LEGO Owl
October 16, 2005
Show all

Hexapod walker (RCX)

Hex1

This small LEGO MINDSTORMS RCX hexapod robot can walk and turn in place. It has three motors:

  • Two motors move external legs forward and backward.
  • A central motor raise the robot at left and at right, driving the middle legs.

Hex2

The robot is built with a Mindstorms RIS 1.5 kit.

 

The motors drive external legs with a gear train with ratio 1:15. To reset them to the center position, I use two touch sensors pressed by cams. The middle motor has a gear ratio of 1:5 and uses no sensors: the center position is reached automatically by setting the motor in floating mode. To remote control it, I developed only a simple routine that responds to IR remote, using message 2 to go/stop/reverse and messages 1 and 3 to turn in place.