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

Thomas Bräunl