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DuckBot with Fall Sensor (SCA60C Axis Tilt)


Final final video: using SCA60C duckbot can fall and know it has fallen and initiate get back up routine. Funny.


Final video: can recover from a fall. Will now scavange duckbot for parts.

Update April 5: new videos showing better duck waddling ability and running on battery power. It is also now a one-eyed duck.

Duck like robot using two microservos for the legs and a standard servo to move the counterweight. It can also turn. It also works using battery packs but the legs are a little too flexible and lose the inclined angle built into the feet so have to rebuild them. The "eyes" are a couple of fridge magnets to keep some weight forward. The body is built out of cardboard. 6 volt battery pack is suspended below body and 9 volt to run the Arduino is the "head" also serving as counterweight.



Above is SCA60C axis tilt sensor that tells robot if it has fallen.

The neck and feet are a cut up wooden spatula.

I rebuilt the legs so they don't flex. The microservos are just strong enough to support the weight of the robot. Would be nice to use some of those 7.4 volt servos for the added power. The standard servo on the top could be replaced by a micro servo to save a little weight.


Picture of the 6 volt battery pack to power the servos.

The 9 volt serves with the kitchen magnets as counterweight to unweight the opposite side so that the leg can move forward freely.


Now am just fiddling with the code to get it walking better. Amazing how little programming changes affect the efficiency of the stride. Also balance is a big factor. I have an idea for a second version that will focus more on the balance.






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Typical excellent job!!!! How about posting a couple up close pictures?

Thank you as always. I have posted them. Will add a new video when I get it working better and using the battery packs.

I love the concept.  Nice to see it work in the video.  Thanks for posting.

Thank you - I hope to see it working better in the future. Have rebuilt the legs and am trying to get the code working so that it takes bigger and riskier steps.It is really right on the edge as the microservos can only hold so much weight.  It really walks kind of like Frankenschteen - but then he probably had arthritis - my duck's is just due to poor programming.

This is giving me some ideas for a "penguin bot". Nicely done!

Thanks. I saw where researchers are using a penguin robot on wheels to approach the adults and study them. A walking one might be even more approachable. Anyway, things that waddle are cool.

I have a couple more moves I was able to coax out of the Duckbot - yoga like and even a fall recovery move when it face plants. Will post that video soon and then will probably tear it apart to build something else which I guess we all do. Was surprised how many moves can be accomplished with just 3 servos and playing with the balance a bit. I have an idea for a 4 servo duck but then the coding starts going up exponentially with the number of servos I guess - no time for all that.



For frame parts, have you ever tried polymorph?


Sounds like cool stuff. I am in China and will have to buy it off taobao.com.

See if you can find a stuffed duck toy which oyu can gut and use for its skin.. you've essentially made the endoskeleton, so it would be great to see it covered.

I think that is a cool idea but I suspect I will not get to that point for a couple of reasons: I'm too lazy and I have all but lost interest in this project as I have one more video made to post on it and then its on to something else, and, when I think about the Terminator - I don't see Swartzeneger - I see the sinister metalic robot underneath. I really want my duck to be sinister and frankenstein like. 

I will think about it though. I think I will have to go to stronger servos and a lipo battery to support the added weight and resistance of the skin or make it out of paper or cloth. But then I would have to replace the Arduino with something smaller and hardwire the connections and put in a switch and then need a sensor or two to make it interesting. Currently it has a fall recovery routine and I would need a tilt-sensor to know when its fallen down. Gosh, this just isn't my mo. I have a new project in mind and I need to strip the duck for parts.