Crab Robot for Applied Minds

One of the projects that I worked on at Applied Minds was a small robot that could walk around using four ‘legs’ that were something like ¼ of a wheel each. This robot could be controlled using a joystick and the eight degrees of freedom were controlled from a desktop computer. My task was to make it be remote control instead and use a microcontroller instead of a computer. Using a PIC processor, I made a pattern generator that could drive the legs as needed. Control of the robot was done via a Playstation II controller.