Pictures of Elvis
Elvis is a 60cm prototype of a full scale humanoid robot.
- 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, 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, right arm extended
- Elvis, left arm extended
- Percilla, Schematic of a full size (60 kg) pneumatic robot
20 March 2001