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This robot was created as a learning project and as a platform for experimentation in AI.
It is designed to eventually be autonomous (currently joystick and software control) though not self contained. There is a radio link to an external PC which receives joint feedback data every 20ms and controls posture and movement.
All on board electronics custom:
18 channels of servo control (3 boards) with current sense and position (read of the servo pots) feedback.
12 PIC16F88 chips on 3 motor controllers (3 each)
1 PIC18F252 acting as a packet driver for the radio
1 PIC18F252 doing I2C bus mastering and prefetching data for the requests coming over the radio
1 PIC16F88 on the power board.
Power comes from an 11.1v LiPo batteries or can be connected to a tether to run off shore power and change the batteries.