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3 Motor 6 Legged walker

<HeXaPoD>

--- And a FAST walker at that ----

ABOUT:

This is a six legged, 3 motor walker. can turn on a dime (left or right), or reverses if both tactile switches are activated. Original circuit was from a microcore with 4 individual outputs. I designed & modified the logic controlling circuit with a bicore for a more better walking gait (movement). Mechanical design is standard for 3 motor 6 legged.

anyways, it works fine....and really walks fast , depending on the type of motors used (speed, torque)....

This bot was done way back 2002... And I have currently dis-assembled the HEAD .. needed upgrading, still have not found the right gearmotor YET. Video shown has NO head and I removed the tactile sensors... sorry 3M_6L

SPECS:

-motor used : from C -ROM drive, the one that opens/closes the CD tray

-gears : from 15RPM crystal ball motor (hacked, gears used with CD-ROM motor)

-final gearmotor: 73RPM @5V drawing 40mA, no load

-power supply : 4.8VDC Ni-Cd battery (1.2VDC Ni-Cd x 4pcs)

This is the circuit I have come up.... a BiCore + a 74xx240 as a MUX inverter for turning Left or Right...OR reverse..if Both tactiles are activated