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Just afer his first eight steps in 1998.
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Titus was first
conceived in 1994 and has taken several different routes to construction and
completion
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Titus first walked
at the 1998 SAE International Walking Machine Decathlon in DeKalb, Il. After that
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competition, it became evident that complete
mechanical and electrical refits were in order. Two years later,
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we are finally putting the finishing touches
on Titus and will have him complete by April of 2001. Titus uses
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five onboard
computers to control his six legs He operates off of twelve volt deep cycle
batteries and
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should be able to
walk for about an hour and a half on a full charge Titus has the capability
of operating
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in rough terrain and carrying over half its
weight in payload.
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Name:
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Titus
Andronicus, from Shakespeare
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Date of Birth:
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Fall 1994,
Spring 1998, Spring 2001
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Size:
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55 x 45 x 36
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Weight:
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250lbs with
batteries
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Payload:
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150 lbs
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Operating Time:
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~ 1.5 hours on a
full charge
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Power:
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(2) Deep Cycle
12v batteries
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Speed:
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~ 2 mi/hr at
full charge
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Control:
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Tethered Control
/ Autonomous Brain
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Interesting
Characteristics:
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Can walk in
multiple vectors at once (i.e. walking forward
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while spinning
about a vertical axis and moving the body
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up and
down.
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Titus at the
1998 SAE International Walking Machine Decathlon
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Titus being
prepped for competiton.
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Pictured: Brian
Basset (at keyboard), Dan Kenney (facing away)
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Hes dancing the
can-can at the moment.
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(Pictured: Brian
Basset, head programmer, 1998)
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Fixing a chain-tension
device the night before competition.
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Old leg
design. Those are electric linear
actuators
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Pictured: (CW
from front) Wndell Faultersack,
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operating the upper and lower leg segments.
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Mark Fuller, Art
Colvig, Joey Nelson, Brian Bassett
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