Pictures of Elvis

• Pico controller board. Elvis' servo are controlled by several of these control boards. Each one can drive up to 8 servos. They are connected by a daisy chained RS232 serial bus. The controllers take 5 word control instructions and generate timed analogue control signals, one per servo. There are PI controllers inside each servo which convert the analogue signal into a servo setpoint +/- 2048 (12 bits, signed integer). The serial bus can contain up to 8 controller boards. It is driven via the serial port on a conventional laptop.
• Elvis, from the front
• Elvis, on the laboratory bench
• Pico controller board installed on Elvis' back.
• Elvis
• Elvis, on the windowsill
• Elvis' right arm. Elvis' right arm was used in the hand-eye co-ordination experiment.
• Elvis' back, showing control board and battaries but the miniture laptop is not in position.
• Elvis
• Elvis, right arm extended
• Elvis, left arm extended
• Percilla, Schematic of a full size (60 kg) pneumatic robot