R.O.B.B.I. v1.0: A LEGO® creation by Konstantinos Akalestos : MOCpages.com

R.O.B.B.I. v1.0

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R.O.B.B.I. is a COG shifting Biped robot using RIS 2.0 parts only. The robot is then programmed using BrickOS and uses a dual IR proximity sensor for detecting obstacles.

About this creation

R.O.B.B.I. Robotic Omni-Directional Biped Bearing Infra-red sensor

This design is based on the design by Bruno Zarokian. It is a Biped robot that walks by shifting its center of gravity. By doing that it can lift one leg from the floor, and rotate itself on the stable leg. The construction of the robot was very difficult since there were no building instructions and it had to be build by looking at Bruno's photos.

Some aspects of the design were simplified and/or enhanced. Also a dual IR proximity sensor (DIRPD-T from
Techno-Stuff) was placed in front of the robot. Now the robot can detect and avoid obstacles in it's way.

A full MLCAD design was then created and the RCX was programmed using BrickOS. The source code (can be found here), has 4 walking functions, and one main function. There is a function for walking forwards, one for walking backwards, one for spinning clockwise, and one for spinning anti-clockwise. The main function makes the robot respond according to the inputs of the IR sensor and avoid detected obstacles.

This robot is part of my final year project at the University of York(UK) so its always under development.

These are some small videos that show the robot in motion. Notice the balast shifting. Also the IR sensor is active and obstacle avoidance behaviour is present.

First Video - DivX Format (2.78 MB)

First Video - Mpeg 4 Format (5.25 MB)

Second Video - DivX Format (2.53 MB)

Second Video - Mpeg 4 Format (5.66 MB)

You need the DivX Codec 5.x.x for viewing the DivX Clips. You can download it for free here.

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kamel khelif
August 16, 2005
I am trying to build up this robot but i am unable to find the mlcad files and the program could you halp me obtaining it. thanks and good job

By Konstantinos Akalestos

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Added March 2, 2004

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