Constructing a 4-legged Microcore Walker

I was very excited when I watched my walker stumbling around for the first time. I hope this article will help you to construct one and share the excitement that I had.

References

  • Reference 1. "How Do I Make A Walker" by Andrew Miller.

  • Reference 2. Build your own Z-Walker mk III by A.A. van Zoelen.

    • Steps

    1. I followed Reference 1 (Step 2 to 3) to build, test and learn about the microcore circuit. A breadboard version of the microcore was built.

    2. I added the pulse neutralising circuit (PNC) in Reference 2 to the breadboard. The microcore circuit should go into the sigle process stage when power up.

    3. I followed Reference 2 (Motor and Motor Driver) to modify the servo I bought for my walker. The H-bridge circuit was constructed and tested on a breadboard before it was built and put into the servo's case.

    4. I interfaced the microcore and the motors using 74HC139 to drive the servos. The circuit diagram for this is shown in Reference 2. The servo motors was connected to the circuit and tested.

    5. The circuit and the motors were assembled into the final configuaration and tested.

    6. I used paper clips for the legs, following the recommendations of both Reference 1 and 2.

    7. The legs are connected to the motors. Reference 1 (Step 6) was used to help adjust the legs.

    Author: Teddy Wu, 6 January 1999