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a robot that doesn’t drive or walk, but ‘wobbles’!

Just its unusual method of motion alone makes the mini-robot an eyecatching appearance. It is an extremely simple design, because it consists of hardly anything else besides a processor, two sensors and two little motors. Nevertheless it is possesses a great deal of dexterity when it comes to avoiding obstacles. The moment it ‘spots’ one, it will make an evasive manoeuvre and is off, on its two funny rotating legs.The most remarkable aspect of this little robot is undoubtedly its unique method of movement. It does not actually have any wheels, but has two cams that function as a kind of paddle, driven by a couple of miniature motors. The dimensions of the cams are such that they protrude a little below the underside so that the creature pushes itself off and ‘wobbles’ forwards every time a cam touches the ground.
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Component list
R1 = 100kOhm
C1,C2 = 22pF
C3,C4 = 10µ F 35V
C5 = 10nF
C6,C7 = 390nF
D1,D2 = LD271 or general-purpose IRED
D3 = 1N4001
IC1 = 89C2051 (programmed, order code 010038-41)
IC2 = L293D
IC3,IC4 = IS471F-SH
IC5 = 7805
X1 = 12MHz quartz crystal
Bt1 = 9V battery (PP3)
M1,M2 = mini motor with reduction gear, 3-6 V, 22-44 rpm (Conrad Electronics order code 242543-50)
K1,K2 = 2-way SIL header with plug
PCB, order code 010038-1
Disk, project software and source-code files, order code 010038-11
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