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2. YETI GENERAL INFORMATION
2.1. Who or what is YETI?
As already mentioned YETI is a walking robot, named after
“the abo-minable snowman”, a hairy giant, who is supposed to live in
the Himalayan Mountains.
Just like the legendary giant, our robot is walking high on his two big
feet. Our YETI however is supplied with a microprocessor brain and
a computer program, controlling a number of servomotors to move its
legs and feet. So it can walk forwards and backwards and even make
left and right turns.
For each step YETI must move one feet followed by he other just like
humans do. Therefore he needs two servomotors controlled by a brain
(microprocessor). A servomotor has an internal gearbox and because
of this it is a very powerful motor.
To control the motor rotation and speed, the servomotor also contains
an electronic circuit which is a Puls Width Modulation (PWM) control.
This PWM control allows the servomotor to make a very accurate
rotation step.
YETI has a front servo and a bottom servo. The servo at the front puls
moves the feet upwards. The forward and backward move is made by
the bottom servo. In this manual another name for bottom servo may
also be leg servo!
