# EyeBot Walker

EyeBot is the heart of several mobile robot projects, all of them using vision as their most prominent sensor. The mechanics and sensor electronics has been individually constructed around the EyeBot controller.

- 12 servos driven by EyeBot
- 2 infra-red PSD sensors
- mechanics 1st generation from Waldemar Spädt
- mechanics 2nd generation from Lynxmotion
- Walker MPG movie 1 (14 MB)
- Walker MPG movie 2 (13 MB)

### Walker Specific Settings

MK3 version (view from top)

             / \ (head)
    leg 5 --+---+-- leg 6
            |   |
    leg 3 --+   +-- leg 4
            |   |
    leg 1 --+---+-- leg 2

    Channel    Connector  Function
    ------------------------------------------------
    TPU  0-1   Motor A/B  not used

    TPU  2-3   S1,  S2    leg 1 front/back - up/down
    TPU  4-5   S3,  S4    leg 2
    TPU  6-7   S5,  S6    leg 3
    TPU  8-9   S7,  S8    leg 4
    TPU 10-11  S9,  S10   leg 5
    TPU 12-13  S11, S12   leg 6

    TPU 14     --         PSD infrared
    TPU 15     --         audio out