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Ullr Gallery

Ullr is a four servo 9 inch (225mm) high biped walking robot, controlled by a PicAxe40x2.
Ullr is driven by four servos and powered by four AA cells.
Ullr can walk Forwads, Backwards, turn Right and Left, step Sideways and Kick.
Ullr can lie down and Crawl Forwads, Backwards, and turn Right and Left, then stand up again.
Ullr can get up from any position if it falls over.
The wings on the head are to assist in getting up from upside down.
The Black Box holds 4AA cells.
On the face and in the feet there are forward facing high power orange LEDs for illuminating obstacles
    which then can be detected by the black shrouded phototransitors next to them.
There are downward facing IR sensors on each foot for detecting table edges and black areas.
Long range sensing can be done by the Ultrasonic ranger module.
Being Aesir, Ullr has Blue LED 'eyes' which are dim when waiting for a command and bright when executing one.
The 'eye' state can can also be set by the user as a HMI.
Ullr can play sounds and Ring-tunes from its onboard speaker.
Ullr can store sixteen user inputed 16 character command strings in its memory.
There is a socket for extra memory so hundreds of commands could be stored.
Ullr can be instructed by commands from a Sony IR remote-control.
The full set of instructions can be sent serially as text over cable or a plugin radio module.
Ullr has an on-board command-help file.

Gallery Sections

2021-01-31
2021-01-26 - Painted Chassis, and Imp
2020-06-14 - Ullr left toe feeler board and Ground Sensor
2020-05-23 - Ullr bones
2020-04-15 - Feet version 2, with toes
2019-10-15 - Feet version 1, required too much sideways movement of the body to be stable when when walking

2021-01-31

2021-01-26 - Painted Chassis, and Imp

2020-06-14 - Ullr left toe feeler board and Ground Sensor

2020-05-23 - Ullr bones

2020-04-15 - Feet version 2, with toes

2019-10-15 - Feet version 1, required too much sideways movement of the body to be stable when when walking