# EyeBot Android

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.

- Johnny Walker was designed by Thomas Bräunl, Richard Meager, Elliot Nichols
- Jack Daniels was designed by Thomas Bräunl, Richard Meager, Joon Ng
- Height: 50 cm
- 4 Optical sensors in feet
- 2 Acceleration sensors on the torso
- Digital camera as head
- 9 servos total (Johnny with active ankles, Jack with arms)
- Video MPG Android walking (5 MB)
- Video MPG Android balancing (2.5 MB)
- Quicktime VR Android (600 KB)

### Android Specific Settings

(view from back)

                     O       (camera as head)
                     |
    left arm   ----+---+---- right arm (Gen. II only)
                   |   |
    torso bend      \_/
    left hip turn  +---+     right hip turn
    left hip bend  |   |     right hip bend
    left knee      +   +     right knee
                   |   |
    left ankle     +   +     right ankle (servos in Gen. I only, springs in GII)
                   *   *     (feet)

    Johnny Walker
    TPU  0  right hip turn
    TPU  1  right hip bend
    TPU  2  right knee
    TPU  3  right ankle

    TPU  4  torso

    TPU 11  left ankle
    TPU 12  left knee
    TPU 13  left hip bend
    TPU 14  left hip turn

    TPU 15  audio out
    other channels not used
    -----------------------

    Jack Daniels
    TPU  0  right hip turn
    TPU  1  right hip bend
    TPU  2  right knee

    TPU  4  torso
    TPU  8  right arm
    TPU 10  left  arm

    TPU 12  left knee
    TPU 13  left hip bend
    TPU  9  left hip turn

    TPU 15  audio out
    other channels not used

For positioning servos from RoBIOS, a single byte value (0..255) is used. The conventions are:

value | operation
128 | servo is in middle position robot is standing upright [arms pointing down]
0..127 | move leg limbs behind the body move torso to the left turn hip joints counter-clockwise
129..255 | move leg limbs in front of body move torso to the right turn hip joints clockwise