Gnat Walking Robot

Project Photographs

Gnat Gnat close-up
Tiger painted by Fred Stamp, 2010
Photography credit: Alice Huang and Nancy Qin, June 2010
Louis Li, 2009

Click on the images to view more photographs of Gnat projects at Churchill.

Construction Drawings

Click the image to view the .pdf file or the text below it for the .dwg file.

Isometric ViewPlateBody
Tactile SensorsLeg ConnectorLeg Layout
Connector TemplateJig #1 - Front LegsJig #2 - Front Legs
Jig #3 - Back Legs

Arduino Controller Board

An Arduino circuit design for the Gnat controller was successfully
breadboarded and tested by Victor Cai (April 2013). A printed
circuit board design will be produced and tested this fall.

What is an H-Bridge?

http://en.wikipedia.org/wiki/H_bridge

L293D H-Bridge IC Pinout & Datasheet

H-Bridge IC Pinout

Brushed Motors & H-Bridge Readings

Michael Margolis, Make An Arduino Controlled Robot, 2013

7.    Controlling Speed and Direction, p. 103–116

8.8   Driving a Brushed Motor Using a Transistor,
p. 304–305

8.9   Controlling the Direction of a Brushed Motor With an H-Bridge,
p. 306–308.

8.10  Controlling the Direction and Speed of a Brushed Motor With an
 H-Bridge, p. 309-310.

8.11  Using Sensors to Control the Direction and Speed of Brushed Motors
(L293 H-Bridge), p. 311–317.

Sensor Readings

Michael Margolis, Make An Arduino Controlled Robot, 2013

8.     Tutorial: Introduction to Sensors, p. 133–147

9.     Modifying the Robot to React to Edges and Lines, p. 147–162

Michael Margolis, Arduino Cookbook. 2011

10.1  Responding to an Infrared Remote Control, p. 348–350

10.2  Decoding Infrared Remote Control Signals, p. 350–354

Archival Documents

PCB For 74AC240PC Line Drive Octal Buffer

Due to its inherent limitations this design
has been replaced by an Arduino circuit.

Click the image to view the .pdf file or the text below it for the .lyt file.

Scott Martin's Gnat Schematics

PCB design, with permission, Scott Martin, 2005

Gnat PCB single Gnat PCB with parts Gnat PCB package
Gnat PCB single Gnat PCB with parts Gnat PCB package