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How to build the one motor walker!by robomaniac on May 5, 2008

Table of Contents

intro:   How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Video . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

step 1:   How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

step 2:   How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

step 3:   How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

step 4:   How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

step 5:   How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

step 6:   the front gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

step 7:   the gear assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

step 8:   The legs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

step 9:   the battery holder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

step 10:   The circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

step 11:   How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

step 12:   How to build the one motor walker! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

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Advertisements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

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Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

http://www.instructables.com/id/How-to-build-the-one-motor-walker/

intro:  How to build the one motor walker!Welcome!

Here is Instructables on how to build a walker with only one motor! This design is baseon the principal of B.E.A.M robotics! Building simple and elegant robot inspired by insect.This robot was build back in 2000 and want to show you how to build it.

Video

Beware this is a complex project!

This project incorporate two more instructablesHow to modify a servo motors.http://www.instructables.com/id/How-to-modify-a-servo-motor-for-continuous-rotatio/How to make the bicore circuit.http://www.instructables.com/id/How-to-freeform-the-bicore-BEAM-robotics-/( I still did not learn with those truncated title :P )

Here are the 3 most important steps in this Instructables

step 1 - Read carefully!step 2 - Read again before asking questions, check the comments!step 3 - Did you read? if not goto step 1

PS- My instructables don't even contain a lot of text! Just pictures! :)

To be able to make this robot you need skills.You will need to solder electronics components.

Gareth Branwyn once contacted me to make a article in his book about my one motor walker.The chapter is online. This is worth reading in parallel while making the robot.http://solarbotics.com/products/abg/

Solarbotics made your life easy by making custom bundle for you!http://solarbotics.com/products/abgchw/I don't think there is a big gear is in there. Be careful.

If you never build a robot and want to tackle the one motor walker, I suggest you try the beetle robot.http://www.instructables.com/id/How-to-Build-a-Robot-The-BeetleBot-v2-Revisite/

Good luck!

http://www.instructables.com/id/How-to-build-the-one-motor-walker/

Image Notes1. When I first saw this robot, I got inspired to build one exactly like that. I nevergot the time to do it .

Image Notes1. I ended building this one :P

Image Notes1. Gareth Branwyn wrote this book and one chapter is dedicated to the one motorwalker! This image comes from Solarbotics.com

step 1: How to build the one motor walker!Here is what you need to build this walker.

Items for the robot:1 x Servo motor with servo horn1 x Terminal block1 x plastic gear ~2 inch1 x plastic servo horn1 x 2 feet of 8 to 10 gauge wire ( can use coat hanger wire or 10-gauge copper wire )1 x short piece plastic tubing ( can use the isolation from the 8-10 gauge wire )2 x AA or AAA battery holder

You could use the GM8 from solarboticshttp://www.solarbotics.com/products/gm8/don't forget thishttp://www.solarbotics.com/products/gmw/

Items for the BICORE"2 x .22 µF monolithic capacitors1 x 100K to 10M� resistor (we recommend 3.2M�)1 x 74HCT240 integrated circuit (IC) 74AC240 will be better1 x 20-pin DIP IC socket1 x on/off toggle switch (smallest you can find)

the recommended tools for this project:

http://www.instructables.com/id/How-to-build-the-one-motor-walker/

1 x safety glasses!!1 x soldering iron1 x glue gun1 x wire strippers1 x side cutter1 x scissors, knife, x-acto, etc

I recommend you to take the time to read this entire instructable before starting. In every page I have added a lot of pictures, so don't forget to look.

Image Notes1. Servo horn with screw.2. The freeform BICORE circuit.3. The big plastic gear.4. Servo motor.5. Rigide plastic tube. Be sure that a coat hanger can fit in the inside the tube. Nottight, it need to be spin freely.6. Terminals. Image Notes

1. Pictures from www.allelectronics.com

Image Notes1. Image from www.smarthome.com

http://www.instructables.com/id/How-to-build-the-one-motor-walker/

step 2: How to build the one motor walker!This is main mechanical part you will need to make the robot.

You can find this sort of gear in VCR. Search garage sale or ask familly and friends.The DVD is already obsolete thank to the BluRay, imagine how obsolete is the VCR! :P

The gear in the picture is from a VCR.

If you are really lazy, you can buy it from therehttp://www.allelectronics.com/make-a-store/item/GR-5/SET-OF-5-GEARS-AND-BUSHINGS/-/1.html

Image Notes1. Check the second picture

step 3: How to build the one motor walker!Glue the servo horn to the plastic gear. Be sure both hole are aligned.

You can use traditional servo horn for this project. It will work.

Image Notes1. Look at both hole. They are centered

http://www.instructables.com/id/How-to-build-the-one-motor-walker/

step 4: How to build the one motor walker!Please visit this instructables to know how to modify a servo motor

http://www.instructables.com/id/How-to-modify-a-servo-motor-for-continuous-rotatio/

step 5: How to build the one motor walker!Here you are building the pivot rod for the front gear.

I took a coathanger and bend it like the second picture.

You simply glue it in place.

You can use cooper wire to do the same thing. Look at step 8 to know which wire to take.

Image Notes1. Centered...2. With this.

http://www.instructables.com/id/How-to-build-the-one-motor-walker/

Image Notes1. Don't be scared to put some glue.

step 6: the front gearFind a rigid plastic tubing that fit over the coat hanger. This tube is your pivot.

You can use the plastic that cover a electric wire. Maybe some 14/2 or 10/2 wire will do.Read step 8 to understand what does 14/2 mean.

Image Notes1. Simply glue it in place. This is your pivot.

step 7: the gear assemblyThis is a easy step. You insert the front gear into the metal rod.

Bend the rod so both gear touch. This is really important.

To secure the gear, look at the step 9. I use terminal block to hold it place.

http://www.instructables.com/id/How-to-build-the-one-motor-walker/

Image Notes1. They need to touch!

Image Notes1. They touch barelly, try to bent it more.2. Use terminal block to hold on the gear.3. Use terminal block to hold on the gear.

step 8: The legsFind some 14 gauge cooper wire. It is normally call 14/2 or some will say 2/148 to 10 gauge will work too.

14 is the gauge ( the size, the diameter of the wire )

22 gauge is breadboard wire and gauge 0 is the size of your finger! 200 Amp

2 is the number of wire not counting the ground. You have a black and white wire.The black wire is the "hot" that carry the 120V

14/3 is the same with one more wire. The wire is red. You normally use this wire when you havea 3 way. Two switchs that control one light for example.

You can use a coat hanger to make the legs.I recommend adding to some heatshrink to the end of the led to have better grip on the floor.You can see on the video, the robot slips a little bit while walking on the table. There is no heatshrink on my robot, only rigid plastic tube.

Image Notes1. Use terminal block to hold on the gear.2. Use terminal block to hold on the gear.

http://www.instructables.com/id/How-to-build-the-one-motor-walker/

step 9: the battery holderI use AAA batter holder but AA will do the same. Glue them to the servo motor.We will hook are battery holder in serie to get higher voltage but with the same current.

Four battery of 1,5Volts will give 6V of power.

If you use rechargeable battery it will be 4,8Volts

To hold your gear in place, I have use some terminal block, I have remove the plastic and cut the terminal in two using a saw. I simply put them on the shaft to hold thegear.

You can even use small tie-wrap instead of terminal block.

Image Notes1. Use terminal block to hold on the gear.2. Use terminal block to hold on the gear.

step 10: The circuitThis is a the hard part if you never made electronics.

Please visit this instructables to make this circuithttp://www.instructables.com/id/How-to-freeform-the-bicore-BEAM-robotics-/

The schematic is really ugly and was made ~7 years ago with paint!The 74AC240 circuit come from www.beam-online.com

R1 = 1Meg Ohmthe capacitor are 0.22uF

http://www.instructables.com/id/How-to-build-the-one-motor-walker/

step 11: How to build the one motor walker!Glue the circuit on top of the servo.

Hook up the motor to the circuit like the circuit.

step 12: How to build the one motor walker!You robot is finish.

http://www.instructables.com/id/How-to-build-the-one-motor-walker/

Image Notes1. My servo motor can spin 360. I had to put this nail to stop my motor frommaking 360 degree. If I let the motor oscillate, it will one day do 360 degree.

Image Notes1. I ended building this one :P

Related InstructablesAdvertisementsCustomized Instructable T-shirts

http://www.instructables.com/id/How-to-build-the-one-motor-walker/

Comments49 comments Add Comment

 bowmaster says:  Nov 17, 2008. 3:22 PM  REPLYWould it be possible to make a 5 ft high one of these and ride it?

 robomaniac says:  Nov 17, 2008. 7:23 PM  REPLYLOLL

never thought about that!!

That could be cool!

Thanksps- It could be possible with some thinking :P

 computer_guy says:  Dec 29, 2008. 4:56 PM  REPLYhmm, perhaps give it more grip by hot-glueing some suction cups or maybe some how make it bigger, yet light, then add FANS!!!! then it can walk onwalls or anywhere at all.

 cd41 says:  Dec 7, 2008. 1:48 PM  REPLYnext step for all wanting to improve it beyond this instructable is to put a gripper (for more traction) on the bottom of the feet to it walks better instead ofslipping around

 Colonel88 says:  Dec 21, 2008. 4:11 PM  REPLYThat thing is huge. Put a bigger otor on it.

 robomaniac says:  Dec 7, 2008. 2:12 PM  REPLYthis is true, but when I added rubber it did not move, because the legs were not lifting a lot. You need some fine ajustement.

You need your rubber on the back leg

Be sure the back legs lift of the ground or else the robot will not go far!

Thanks

Jerome

 Shut Up Now says:  Dec 8, 2008. 3:12 PM  REPLYmovement seems more like a drunken goat than a walking robot...

jk. good ible and cool invention

 Tech107 says:  Dec 2, 2008. 10:28 PM  REPLYI build it but for the bicore circuit I used a 3.2Meg ohms resistor and the gm8 motor has a hard time turning or it goes to far when it oscillates. I will try the 1meg ohms resistor. Can anybody help me? Thanks

 robomaniac says:  Dec 3, 2008. 9:31 AM  REPLYBe sure you have a 74AC240

74HCT240 will have a harder time to drive the motor.

the 3meg resistor change the oscillation

big resistor = long oscillationsmall resistor = short oscillation

Good luck

ps- you can put 2 3,2Meg in parallel to have a 1Meg resistor for testing.

Jerome

http://www.instructables.com/id/How-to-build-the-one-motor-walker/

 uncreative username says:  Nov 28, 2008. 9:46 AM  REPLYis that a Mondo spider i see? yes,its an eight legged beast, that can reach a speed of 30 miles an hour.

 ATILA says:  Oct 27, 2008. 11:30 PM  REPLY¡Exelente trabajo, felicitaciones!

 Mr. BeanyMvBeanBean says:  Oct 5, 2008. 11:53 AM  REPLYI was screwing around with gears in my basement and I found a way to make the gears turn like that using only gears and a motor. I'll post as soon as Iconvince my dad to let me borrow his camera.

 Mr. BeanyMvBeanBean says:  Oct 5, 2008. 12:24 PM  REPLYHere it is: if you put a gear between the two half gears it will switch direction when one half gear is touching it and when the other one starts touching itwill switch off. Only problem is I didn't have the right size gear

 BEAST14 says:  Sep 19, 2008. 7:37 PM  REPLYhey, is there anywhere else that I can find pictures from different angles of the one motor walker stepping over a quarter? I would like to see what is on theother side of it.

 viacin says:  Sep 19, 2008. 3:20 PM  REPLYI found some gears at the electronic goldmine that are perfect for this! ( http://www.goldmine-elec-products.com/default.asp ) These guys have the cheapestprices than anyone else! I just ordered about $70 worth and I think I'm stocked on parts for the next year! They have the best electronic grab bags too. Youget a HUGE box for $3.95! A lot more than the $10 swap meet ziploc bags! But you get 3 brand new gears for $2 Heres a direct [http://Linkhttp://www.goldmine-elec-products.com/prodinfo.asp?number=G15901]

 Mattmoon says:  Aug 31, 2008. 4:30 AM  REPLYi am new this is my second comment. jerome rocks out loud!!! i love all your robots jerome. i am still gathering stuff from radio shack for the beetle bot witchis super cool. but i want to ask whoever can awnser my question. does it fall if no walls? and if there is walls does it bump into them and turn around or doesit go straight? i will do this next no matter what but i am just wondering.

 robomaniac says:  Aug 31, 2008. 1:23 PM  REPLYThis robot does not have any sensor! It is a blind robot that only walks straight.

When I made this robot I thought I could easilly make this robot reverse but it ended up walking foward even by swapping the motor polarity. The onlything I could try is to make the robot turn . I will try that on the next version.

Thanks and good luck!

Jerome

http://www.instructables.com/id/How-to-build-the-one-motor-walker/

 viacin says:  Sep 19, 2008. 3:03 PM  REPLYwhat if...and I'm grasping into thin air here and thinking as I type... you made the motor only go half the gear before reversing polarity? Repeat this afew times would cause the bot to turn in that direction. If you could wire a spdt to reverse the polarity when triggered...it would still go all the wayacross the gear unless there was something to control the timing.

Like lets assume it takes 1 second for the motor to turn the gear from one side to the other. If the spdt is triggered then the motor will go + for .5ms,then - for .5ms then + for .5ms, then - for .5ms and so on untill the spdt is no longer triggered. This would allow the bot to turn when it encounters awall or whatever. Maybe. What do you think? And either way, this is starting to sound like a Micro controller job.

 viacin says:  Sep 19, 2008. 3:07 PM  REPLYThe more I watch the video of this bot and think about it, this would probably just make it raise one leg and put it back down over and over,effectivly turning it into a breakdancing robot!

 Mattmoon says:  Sep 1, 2008. 4:59 PM  REPLYalso

also try to decorate it and again no preasure.

good luck

Matt

 Mattmoon says:  Sep 1, 2008. 4:55 PM  REPLYjerome i would love you to try but don't think i am putting preasure on you because i am not. try as best as you can to make it turn, but don't go crazy tryingto. Try as best as you can to make it turn though.

Good luck

Matt

 Mattmoon says:  Aug 31, 2008. 2:08 PM  REPLYthanks a lot for awnsering back to me i am looking foward to making it after the beetle bot (though it is blind).

good luck to you too to make a new awsome robot i can make

Matt

 neardood says:  Aug 29, 2008. 1:42 AM  REPLYlol it is so cool but it looks so unco.

 julitopuerto77 says:  Aug 26, 2008. 6:26 AM  REPLYmuy buen trabajo!!!!!!

 turtleshane says:  Jul 20, 2008. 5:48 AM  REPLYthis is random but i cant figure out how to change my instructables icon can anyone tell me how to change it

 csmiler says:  Aug 20, 2008. 10:32 PM  REPLYHI!had to figure that one myself!(should make an instructable out of this)step.1-click on your profile name thing(next to logout/help (top rght)step.2-on the left hand side(under your current "image")click modify setings.step.3-on the "thing" that comes down,click "change image".step.4-upload image.step.5-add the image.step.6-at the bottom of the page clickupdate imagesstep.7-enjoy new "imaged" fun!

 turtleshane says:  Aug 21, 2008. 9:42 AM  REPLYthanks alot i didnt know which image to pick tho do u think this image is cool?

 csmiler says:  Aug 22, 2008. 2:39 AM  REPLYYup Its cool!Actually i have to thank you!Thanks to you i made my first instructable!Is it ok if i put your name on the credits?here is the link http://www.instructables.com/id/Change_your_Profile_Icon/

http://www.instructables.com/id/How-to-build-the-one-motor-walker/

 turtleshane says:  Aug 22, 2008. 6:55 AM  REPLYyah its cool u can do that thanks adios

 Ian1104 says:  Aug 2, 2008. 6:23 PM (removed by community request)

 turtleshane says:  Aug 21, 2008. 9:45 AM  REPLYwow random donkey kong is really stupid

 wkter says:  Aug 11, 2008. 2:59 PM  REPLYHaha, looks like a drunk bug XDBut very nice..I'm all over making one ;)

 robomaniac says:  Jul 14, 2008. 3:05 PM  REPLYAlready featured after 30min? Cool :D

 YummyPancakes says:  Jul 30, 2008. 1:15 PM  REPLYIt takes either luck of a f***in GOOD 'ible for that to happen. Congratulations!

 Ian1104 says:  Jul 30, 2008. 12:23 PM  REPLYi love your work. u have inspired me to continue my dream of robotics. i am currently working on your beetle bot. brilliant. make more robots

 rustlabs says:  Jul 20, 2008. 1:36 AM  REPLYawesome, i tried this once.. but wasn't quite as successful

 beardy says:  Jul 18, 2008. 5:38 PM  REPLYLOL That's very funny!

I REALLY don't mean to be rude - you've put a lot of work in here.... but it reminds of that scene in the movie "The Fly" where the 'creature' is begging to beput out of his misery!

No offense meant.[m]

 turtleshane says:  Jul 18, 2008. 6:01 PM  REPLY????

 turtleshane says:  Jul 17, 2008. 3:46 PM  REPLYcouldnt you make the robot remote controled instead of using the bicore circuit.....then the remote would be able to make it go forward, backward, or stop it.

 robomaniac says:  Jul 18, 2008. 12:26 PM  REPLYWith this design, the robot can not go backward! When I design it, I thought I could back up and avoid obstacle. But no. It does not matter witch way themotor oscillate, it will go foward.

You can do that but you are going to have a long tether to control de robot.

CapnTac is right too.

Thanks

Jerome

 CapnTac says:  Jul 18, 2008. 6:57 AM  REPLYThen it wouldn't be a "robot". The correct definition of robot is: 'A machine designed to replace human beings in performing a variety of tasks, either oncommand or by being programmed in advance.'True, it could be argued that "on command" might mean being controlled by a human, but I was in a robotics class a while ago and I was taught by anexperienced robotic scientist/engineer, and he specifically said that a machine controlled by a remote is not a true robot.

http://www.instructables.com/id/How-to-build-the-one-motor-walker/

 turtleshane says:  Jul 18, 2008. 6:00 PM  REPLYyeah i'll agree with you capn tac if it is not self operating it would be an rc vehicle and then it would still be a type of robot thing i would say, but evenso as you said a robot is "'A machine designed to replace human beings in performing a variety of tasks, either on command or by beingprogrammed in advance" and this robot doesnt do anything helpful it is just fun

 yourtubemeera says:  Jul 15, 2008. 7:45 AM  REPLYcan u do it without servo motor ?

 andy says:  Jul 15, 2008. 3:08 PM  REPLYAny good gear motor should work really, depending on ratio speed and power consumption. Its always good to find something with lots of holes, bracketsetc... but even without mounting holes/brackets glue usually does the trick on small walkers with low load like this. Motorised toys usually have the gearbox, motor and axles mounted to the shell, so they're not so good unless you want to start sawing, but relatively cheap.

My personal favorite are the small rc helicopter servo's that one can purchase on auctioning sites, small and cheap (four for about £15 last time I gotsome) although not as powerful as standard size hobby servo's they would work well with a smaller power supply.Drew

 robomaniac says:  Jul 15, 2008. 8:11 AM  REPLYYou could use the GM8 from solarboticshttp://www.solarbotics.com/products/gm8/don't forget thishttp://www.solarbotics.com/products/gmw/

 Plasmana says:  Jul 15, 2008. 2:13 PM  REPLYThat is awesome! I try build that one day...

4/5 rating!

 Kiteman says:  Jul 15, 2008. 9:13 AM  REPLYGood grief - it's taken me ages to put two and two together.

I've just realised that I've had your website on my bookmark list since before I discovered Instructables!

(Oh, and did you know that when you google for one motor walker, the first three hits are you, and fourth hit was inspired by you? Kudos, Robomaniac)

 GorillazMiko says:  Jul 14, 2008. 5:52 PM  REPLYNice job, I'm really pissed that I couldn't get my entry in, but I hope you win something.

P.S. It will still be posted, but obviously not in the contest because it is over.

 robomaniac says:  Jul 15, 2008. 8:15 AM  REPLYI like you image.

Next time I will post a sort of blank instructable and add it to the contest. Your instructable will be in the contest so you can edit it like you want.

Or simply be more planned. I have a hard time with this :P

There are other cool instructable contest, try to get yours in the book contest!

Good luck!

Jerome