Newsgroups: comp.robotics
Path: brunix!cat.cis.Brown.EDU!agate!overload.lbl.gov!lll-winken.llnl.gov!ames!elroy.jpl.nasa.gov!usc!howland.reston.ans.net!swrinde!news.dell.com!pmafire!miles
From: miles@pmafire.inel.gov (Miles Walton)
Subject: Re: Ant Robot ????
Message-ID: <1994Jun8.163108.24823@pmafire.inel.gov>
Date: Wed, 8 Jun 94 16:31:08 GMT
References: <1994Jun8.153000.1@ntc01.tele.nokia.fi>
Organization: WINCO
Lines: 39

In article <1994Jun8.153000.1@ntc01.tele.nokia.fi>,
 <ibsen@ntc01.tele.nokia.fi> wrote:
>				Hi Folks,
>
>About a year and an half ago is saw a small Ant like robot on the science
>program Beyond 2000. I think it used 6 servos to walk. Does any one
>know about this Ant-Robot ?
>
>
>    Rgds
>Uffe Ibsen
>
>uffe.ibsen@ntc.nokia.com

Don't know what was on the program, but here at work we have two 6-leg
robots from IS Robotics called the Genghis II.  They are based on the
Genghis autonomous robot built at MIT.  It uses 12 servos for walking, 
two on each leg for lift and advance.  There are three or more 6811s
onboard for servo control, sensors, and behavior control.  It is
fairly small, roughly 18"l x 15"w x 10"h (depends on where the legs 
are positioned) and runs on a recharageable nicad pack for the
servos and a 9v battery for the electronics.

Software for it is developed on a Mac using Macintosh Common Lisp
and a behavior language provided with the robot.  Sensors include
bump sensors at the front, force on each servo, tactile strips on the 
bottom of the body, an inclinometer,5 pyros in an arc at the front,
and ir sensors on each of the four corner legs that can sweep an
arc with the leg movement.

IS Robotics also makes a 6-leg walker called Hermes and a bunch of
other types of small robots, all autonomous.

If you want more information on the Genghis let me know, I'll be glad
to tell you what I know and give you some contacts at IS Robotics.

Miles Walton
miles@mwalton.inel.gov

