The Penguin robot is a precision-machined 4-inch tall biped with an embedded BASIC Stamp 2px24 microcontroller. The Penguin walks forward with a tilt-stride action and turns by sweeping both feet on the ground in opposite directions - a strategy that works best in this robot’s small scale. The parts have a close-tolerance fit and are designed to make use of precise electronic control. The Penguin’s fully assembled PCB features an assortment of sensors and output devices. Set aside approximately three hours to assemble a Penguin.

Writing code for the Penguin is quite easy. First, the servo center and tilt/stride limits are set and written to EEPROM using the Penguin-ServoCalibration.bpx program. Subsequent programs use the values stored in EEPROM, making it easy to share Penguin code without having to adjust servo PULSOUT constants in each program.

Sensors are added into the subroutines, and a direction of travel is executed by assigning a value to the WALK variable (forward, back, left or right). Sensors are monitored between walking movements, without the headache of linking walking movements being handled by the rest of the PBASIC program.

The Penguin robot performs best on your desk or other hard surfaces. It is not designed for long-distance adventuring across thick carpet, but a tight, low-pile carpet is an acceptable walking surface. The Penguin's electronics are fully assembled and wired to an assortment of sensors and output devices.

The Penguin robot is available in four colors: RED, BLUE, CLEAR or BLACK.

Penguin Features:

• BS2px24 module chipset
• CNC-machined 6061 aluminum parts available in black, red, blue or nickel
• Hitachi HM55B Digital Compass sensor
• (2) photoresistors for light following/avoidance
• (2) infrared emitters and an infrared receiver for object detection or remote control using the Parallax infrared remote control
• Blue seven-segment LED for feedback
• (2) micro servos for tilt and stride
• Piezospeaker in body underneath battery pack
• Expansion port for the Ping))) Ultrasonic Sensor, Parallax RF Modules or other input/output components
• Power switch located adjacent to battery pack
• FTDI 232BL mini USB programming port
• Blue power indicator LED

Kit Contents:

• CNC-machined Penguin parts
• Main PCB board
• Battery pack w/ ribbon cable
• 2 micro servos
• (2) CR123 batteries
• Custom machined parts/screws
• Instructions & tools needed

Key Specifications:

• Power requirements: 6 VDC
• Communication: Serial for programming
• Dimensions: approx 3.15 x 4.25 x 3.5 in (80 x 108 x 89 mm)
• Operating temp range: -32 to +158 °F (-0 to +70 °C)

Alternate viewing angles:

Click through for a close-up.

Click through for a close-up.

Note: Item contains a CdS cell photoresistor. The RoHS exemption request status for CdS cells is currently unclear; there are no RoHS-compliant exact replacement devices available.

Downloads & Resources:
PenguinDoc-v1.3 (.pdf)
PenguinCode-v1.2 (.zip)
Humanoido - Penguin enthusiast's super-site. (Off Site)
Happy Feet Penguin Video (Off Site)
Penguin Dance Video (Off Site)
Skating Penguin (Off Site)