Hexotica - Design and Implementation of a Small Walking Robot

This document was created in fulfillment of the Systems Design fourth year workshop course at the University of Waterloo. It is meant to describe the Multiprocessor Controlled Autonomous Walking Vehicle Project in sufficient detail to allow reproduction and continuation of the work. To this end, several appendices have been added, including a complete mechanical parts list and accompanying blueprints.

The project was broken up into three main components; mechanical leg design, hardware controller design, and software design and simulation. The motivation behind this project and the design decisions made throughout the course of the project are described in their respective sections.

A number of contributors assisted us throughout the project, including several professors at other universities who we contacted through e-mail, and people we contacted in person. In particular we would like to thank Kevin Krauel, the director of the Systems Design lab at the University of Waterloo who lent us considerable assistance throughout the project. We would also like to thank Guenther Metzker, the former director of the Systems Design lab at the University of Waterloo, and all the technical staff working in the lab, without whose assistance this project would not have been possible. We would also like to thank our supervising professor Dr. John McPhee, who was (and continues to be) an invaluable resource. Finally, we would like to thank our sponsors Invotronics Ltd., Automation Tooling Systems and the Systems Design Department for providing the necessary funds to support this project.

Dylan Horvath
Jeff Lee
Stefan Williams

April 8th, 1997

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