JohnCreighton firstname.lastname@example.org (John Creighton) wrote in
Mark is the designer/creator. I can't comment if he had assistance. It does
still use BEAM principles. Here is an excerpt from
The interesting thing about Robosapien, according to a recent article in
Servo Magazine is the methods to make its legs and arms work. Instead of
stepper motors attached to each joint controlled by a microprocessor,
Robosapien uses a set of sliding plastic parts to deliver output from only a
couple of motors. This reduces part number, wear and tear, and generally is
more practical for low-cost production than the systems used in the Sony
QRIO or Honda Asimo. Motor control in the Robosapien uses the "nervous net"
methods of BEAM technology. This greatly reduces the amount of digital
computing power used by Robosapien, and makes it more flexible than it might
The proof-of-concept prototype was built using BEAM techniques, and it's much
speedier than the commercial version.
Ultimately, the patterns optimized by Mark on the Nv controller were adapted
into a traditional "blob" microcontroller for mass-production. Also, it allowed
the easier implementation of IR decoding and sound generation.
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