face and gesture tracking. Object,
color, and glyph recognition are
obtained via the EZ-Robot v2 camera.
Other sensors include a thermal
imager, long-range IR ranger, light
level, right/left passive infrared (PIR),
sound localization microphones, four-zone ultrasonic ranger,
electromagnetic sensor with 360
degree sense scan, cliff/fall sensor,
battery monitoring, and right/left
claw object detector. All smart servos
have (programmable) current sensing.
(More about these smart servos in a
Moving the ALTAIR robot is
achieved via 2x high torque globe
motors with high-res HEDS encoders;
10x worm driven smart servos and 2x
linear actuators; and 2x worm driven
smart servos for pan/tilt.
Supporting the main EZ-B
controller are 16 custom PIC
microcontrollers. These PICs control:
emotion animation; head master
control (head sensors buffer); shoulder
servos, bicep servos, elbow servos,
wrist servos, claw servos; locomotion
(high-res) odometry and location
locomotion based sensors (the
interface). The PIC master
microcontrollers (head and
locomotion) gather raw data from all
their respective sub-system
microcontrollers and filter out
repetitive and non-relevant data, only
sending on to the EZ-B valid and fresh
data. This intelligent filtering greatly
reduces any communication
bottleneck and eases processing
38 SERVO 07.2017
Figure 4. An AMi “smart” servo — a custom-designed high torque unit.
Figure 3. The ruggedized teach pendant.
Figure 2. Now this is the robot we all wish we could build! This EZ:1 model is bristling with sensors, actuators, servos, and good bot vibes.