Parallax Penguin Robot Flying High with Mega Projects

Parallax Penguin Robot Flying High with Mega Projects

by Humanoido

• Parallax Penguin Robot Homepage
  

Left: Smaller kites are ideal when lofting penguin boards of lighter weight

Below: the Burj Khalifa, a mega project with a height of 2,716.6-feet. The height of Taipei 101 in Taiwan is 1, 667-feet.

The Penguin BS2px motherboard on Penguin robot is powerful for many repurposed uses. I made a Penguin astronaut and launched him into space with a GPS interfaced to the extra port and did data log recording of position, height, and various parameters, then matched with Google Maps enabling the altitude feature. 

I did a lot of work with this concept in China and leasing spacecraft flight vehicles. Working with kites was also an approved method for flying to high altitudes. I've had kites out there to a 5,280-feet with special lightweight military parachute string relatively impervious to taking on moisture, but don't try that with non-approved  high flying non-Chinese rockets or it's looking for trouble!

Penguin also reached 1,555 feet altitude via one of their Mega Projects in China at a ticket cost of about $24 to go that high. You take the high speed elevator to get to the top and part way up your ears start popping! On the top level, the actual floor is made up of see-through glass, which is extremely disorientating to those afraid of heights. At Taiwan at 101 on the top ledge, Penguin reached 1,473-feet elevation and riding the Tram in Hong Kong to the Peak took Penguin up at least 1,200 feet. The actual Peak is at 1,800-feet. Penguin also visited the Great Wall in China around the highest elevation where he actually walked on the ancient Great Wall paved walkway and visited a temple (drawing a huge crowd).

Above: At the elevation of the mountains, Penguin Robot walked on the Great Wall of China pavement bricks and caused a commotion among tourists

A flying Parallax Penguin persona is not far fetched. After the Penguin Super Hero project, a Penguin Astronaut was developed for trips into space. Because Penguin robot uses the most powerful Stamp processor and already has sensors built in (compass, light sensors, infrared sensors, input switch, seven LEDs (as segments), ports for sensor add ons), it makes an ideal "working payload." As an astronaut, Penguin can control things with its two tiny and light weight leg NARO servos. 

I should clarify the operation of the Penguin Astronaut. Penguin Astronaut thus far is lifted into space by two methods. One, it's attached to and flown on a kite where it data logs information during its flight. Two, it's carried aloft miles into space as part of the Near Space Program conducted by the Lab located in the South Pacific.

There are many modern quadcopters that can loft the Penguin robot, and this makes a good astronaut, reporting compass direction, GPS coordinates of position, date, time, thermal radiation temperature, ambient brightness levels, and elevation. He also fits into a tiny space suit designed to hold the mechanics to gain servo functions for various purposes.

Near Space
https://humanoidolabs.blogspot.com/2013/02/near-space-flight.html
Repurposing Penguin
https://forums.parallax.com/discussion/140572/proposal-parallax-penguin-repurposed
Flying Penguin
https://forums.parallax.com/discussion/137688/flying-penguin

About the Parallax Penguin Robot

All About the Parallax Penguin Robot - What is it?

• Parallax Penguin Robot Homepage
• 
  

Penguin is a rare desktop robot introduced on the cover of Servo Magazine December 2005. The Penguin is a 4" tall precision-machined robot designed for desktop navigation.

Parallax offered 1,000 limited edition Penguin kits for purchase during Q1 2006 in anodized blue, black, red or nickel color schemes. This mini robot includes a BS2px processor, HM55B digital compass, blue seven-segment LED, infrared emitters and detectors, photoresistors, speaker, and a socket for an RF receiver or Parallax Ping))) ultrasonic sensor.

The body parts are made from 6061 aluminum, machined within a 0.001" tolerance in colors of red, blue, black or nickel. The manufacturing of the Parallax Penguin Robot was discontinued by Parallax years ago, making the robot kit extremely rare and valuable, fetching a huge price when one occasionally goes up for sale on EBAY. We are preserving history and promoting the remaining Penguin Robots by maintaining a literal goldmine of information for this precious cute little walking robot.

Humanoido took a photo to show the height of this Parallax Penguin robot at about 4-inches. Many sources reported 3.5-inches for the earlier versions. Note: when measuring, compensate for the space below the zero on the ruler.

The Penguin Robot is a precision-machined 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. Individual movement segments are linked together for this robot to walk. This basic biped design functions best in the Penguin’s small scale. The Penguin mechanics have a close-tolerance fit and are designed to provide precise electronic control. Set aside four hours to assemble a Penguin.

Writing code for the Penguin is accomplished in PBASIC. 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 Revision B Penguin printed circuit board was redesigned with several major improvements in 2009. First, the board has a more robust power supply for fewer resets. Next, the seven-segment LED driving circuitry was replaced with a low-pin shift register. These improvements allowed two I/O, power and ground connection to be ported to the top of the board for expansion. Accessories like the Ping))), PIR and other Parallax sensors may be installed in these locations. Some extra surface mount solder/modifications are necessary on this version. All the necessary components (including extras) are supplied. A higher skill level is recommended.

Software

Humanoido has written thousands of software programs for Penguin, released into the public domain through Humanoido websites, the PRS website and the Parallax Forum. Many of these programs give Penguin different personas, like superheros.

Penguin Specifications
* 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
* Blue seven-segment LED for feedback
* (2) micro servos for tilt and stride
* Piezospeaker in body underneath battery pack
* (2) Expansion ports for the Ping))) Ultrasonic Sensor
* Parallax RF Modu 232BL mini USB programming port
* Yellow 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
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)
This product was made in the USA
Other input/output components - 3 position power switch adjacent to battery pack
FTDI 232BL mini USB programming port

Parallax Changes Alignment Code

Versions of Penguin software by David Carrier introduced major changes to the alignment program, creating an inability to run former code, literally hundreds and thousands of programs. Ken Gracey said they would be discussing it but the bugs were never corrected.

Revision B
The Revision B Penguin printed circuit board was a redesign with several major improvements in 2009. First, the board has a more robust power supply for fewer resets. Next, the seven-segment LED driving circuitry was replaced with a low-pin shift register. These improvements allowed two I/O, power and ground connection to be ported to the top of the board for expansion. Accessories like the Ping))), PIR and other Parallax sensors may be installed in these locations.

Revision B Bug

However, there was a manufacturing bug on the board that required the Penguin robot to be tethered to the host computer. Parallax provided a surface mount modification kit as a bug fix. Thereafter these bugged Penguins were closed out and the robot was discontinued.

You will need to identify which Penguin and software to run the correct servo alignment and calibration software. To run hundreds of Penguin programs created by Humanoido, use Humanoido's calibration program for complete compatibility.

Bat Penguin

Bat Penguin
Build a BAT Penguin (Bat Mon) using your Parallax Penguin Robot. Considered by some as another Penguin superhero, the Bat Penguin has one amazing super power and its own super suit.

Bat Penguin by Humanoido

• Parallax Penguin Robot Homepage

Resources/Code: PT3.pdf,  Penguin_bat.bpx, penguin_ bat_suit.jpg, Materials etc: Bat Suit, tape, meter, printer, paper, scissors, etc.

History

This article is adapted from Humanoido's Penguin Tech Magazine issue number 3, pages 1, 2, and 3, copyright 10-08-08. The original posting on the Parallax Forum is now found. The backup article and code posted at the PRS website was deleted along with the website. This material is pooled together from Humanoido's Penguin Robot archives.

RIGHT - BAT Penguin in action with battery monitor and fully functional Bat Suit. Utilize the jpg template to create this outfit. The original DIA file is also available.

Build the Bat Penguin!

Did you know the stock Parallax Penguin Robot has a built in battery monitor? In this article, we’ll show how to find the hidden and perhaps the most useful stock feature on your robot! Humanoido code for Bat Penguin or "Bat Mon" can monitor the battery level.

LEFT & BELOW LEFT: Printed black & white designs for the Bat Penguin hood and cape are stencil traced and cut out from paper or cardboard. DIA program was used for the overall design and both a native file and JPG were originally provided at the PRS website. For now, all included photos can act as guidelines to create the hood and cape.

Battery Monitor Introduction

How can you make a battery monitor for your Penguin Robot without using any add-on parts and not spending a penny? Another impossibility? Don’t fret because this exclusive PTech article will show you how to accomplish this wondrous feat. Stock Penguins have the guts for a battery monitor. This circuit
uses the LED and light sensor – both exist on Penguin’s CPU board, and it’s a cinch to add the same on other robots.

The Power LED is the Key

The tiny blue power LED on Penguin’s motherboard is the mother-load of help when it comes to taking care of onboard batteries! It’s shows battery level power. Notice, when batteries are new, the LED is bright? When batteries need replacing, the LED is significantly dim. A more quantitative method of brightness level, compared to visual inspection by human eyes, is needed. Meet Bat Penguin!

Left Photos - the CPU board awaits a tiny modification. Below - the CaS light level sensor is manually bent back 180 degrees towards the power LED. Now the right photo sensor can read the LED brightness level and determine the battery condition.

Left - use several built-up layers of tape as a short term light shield. 

Below - to measure voltage, connect positive (red +) and negative (black -) leads to the two metal tabs on the bottom of the CR123A holder. The measurement shown is the combined voltage of two batteries in series.

The Bat Theory

This is Battery Eye that watches the power LED. When activated it can determine light level of the power LED using one CaS light level sensor (see photos p.3). The CaS sensor is a cadmium sulfide photocell. Each Penguin has two at the front of the top board. This cell is sensitive to light, and is built into a resistor-capacitor circuit. RC Time is a measurement of how long it takes for a capacitor to lose a certain amount of its stored charge as it supplies current to a resistor. See What’s a Micro, Parallax. The discharge time is measured and becomes a function of the light level. Previously calibrated data helps determine battery voltage. As the battery voltage decreases, the LED intensity will change. Measuring this amount of change will approximate the battery voltage. Knowing battery voltage and having a condition indicator can avoid many pitfalls before they happen. Knowing when to replace batteries is one of the best things ever to happen to Penguin!

Photo Notes: This is the assembled BAT Penguin, complete with functional Bat outfit. The cape supplements the hood which has a tiny shroud that helps light shield the active power LED and photoresistor. After printing the suit on paper, cut out the outline and cut the tabs. The Bat suit is available in the original drawing DIA file, and as a jpg file.

Left- Calibrate in darkness - a light sensitive cell sees light from the LED. The sensor determines resistance based on observed light brightness. Note: the light sensor is very sensitive to reflections and this may affect readings.

The Bat Suit 

The Bat outfit consists of two pieces: the hood and the cape. This is a functional suit, i.e. it consists of the sensor flap (as marked on the hood) which will actively shroud the motherboard CaS light detector and power LED. To duplicate the “power” suit, refer to the suit guide. At the bottom, 12.5 cm length is indicated. Copy and enlarge this stencil until the size is exact and print out. Cut out the paper making sure to carefully cut the two slips at the Sensor Flap location. Fit the suit by folding over the bottom tabs. The tabs fit under the motherboard. Fold out the Sensor Flap and form it to rest over the LED and CaS light detector. Apply a piece of black tape to completely seal the pair from outside light, making sure not to obstruct the blue LED. Note the positions of the hood and cape in the photos. The hood is held end to end by a small piece of black or clear Tape. The cape is also taped, this time to the sides of the battery compartment. Make certain the CaS light detector will be fully shielded from all room light, and that no light can get through the black tape or black shroud.

Seal and Eliminate Light Leaks

This is no easy task. Aside from the LED, absolutely no other light, including reflections, must reach the photodetector. There’s several ways to seal up the sensor from outside light. 1) the Bat-Shroud, 2) Tape, 3) Clay, and 4) Paper Mache, or any combination of the above. With the shroud in place and Penguin Robot under medium light from a lamp, run the main program. Continue to put flat black paper and then layers of tape across the CaS cell and LED, until the reading is stabilized to one number that does not change. The first layer of flat black construction paper will help eliminate reflections near the sensor under the tape. Because tape does not always stay in position, more ideally use a small lump of non-conductive moldable dark art clay as it more firmly anchors its position. (Do not obstruct the line of sight from the LED to the CaS cell.) If this is not available, try mixing water, small newspaper strips and flour into a moldable paper Mache mix. Press in place when batteries are removed from the robot. Paper Mache is quite messy – try not to spread material to other places on the circuit board. Smooth over the shroud as much as possible and when dry, paint it black with a marking pen to prevent light from going through.

How to Activate the Device 

Now for the amazing stuff. Referring to the photos, fold over the right hand CaS light level detector 180 degrees. Do this only once so as not to stress the wire leads. Adjust the sensor to face the power LED as close as possible. Be careful not to stress the base of the light sensor leads where they enter the board -- fold the leads and don’t pry the leads where they enter the board. When adjusted, the sensor should make contact with the board and directly face the LED.

Left - Penguin’s built-in battery monitor circuit. The circuit can be duplicated for Boebot or Scribbler.

Regaining Power LED Function

After the shroud is installed, the power LED light is invisible. Aside from the power switch position, on/ off status is unknown. To regain the function, code has a simulated power LED, from a graphic character on the segment display. Note - with the LED blocked, RC will be extremely high, possibly above 4,000 and less than 1,000 when the LED is on and not blocked.

Left: use this template for creating the bat suit. The jpg file is easily printed and cut out of printer stock or enlarge and print this image. Note the innovative built in sensor shield flap. All designs © by Humanoido August 1, 2008.

Calibrating 

Bat Penguin must be calibrated or it will not work properly. Calibrate by using a meter that can read voltages called a voltage ohmmeter or VOM, and batteries for at 5 to 4.9 volts. A variable bench power supply regulated in increments would make calibration easier. The combined battery set voltage is measured, not the voltage across single batteries. The Lithium Photo CR123A is a 3-volt battery. New batteries may read slightly higher. Penguin operates from a 6-volt battery supply. Calibrate batteries under load/drain with Penguin on. Depleted batteries may erroneously read high voltages when not loaded. Maintain room temp. In summary, the code is used as a calibration program. RC values for 5 & 4.9 volts are noted and placed into the program. This becomes upper/lower limits, above 5-v and below 5-v. Five volts can be considered the lowest safe operating v- level. Anything lower trips audible/visual alarms. This value may be changed to fit differences of each penguin robot and calibrations. 

Code 

Bat code adds a battery related monitor function. This is a step by step summary of the program’s accomplishments: 1-RC time raw measurement, 2-Generate Power LED Substitute (PLS), 3-Report Raw RC, 4- PLS Status on Debug Screen, 5-Battery Test, 6-Battery Report, 7-Determine Alarm Condition, 8-Activate Alarm Function if Needed, 9-Recycle. Status is on the Debug screen. In summary, when the batteries begin to deplete, the blue power led will lose brightness. The CaS photo cell is bent backwards facing the LED. RC measurements are taken and compared with voltage calibration values. If the number is too low or too high, the battery condition is reported as good or bad. If bad, alarms will go off and it's time to replace the batteries.

The Alarm

The alarm is very unique as it comprises both alternating display of 2 graphics and audible alarm. This loops in the program until the batteries are removed or Penguin is powered down. The alarm also reports to the Debug screen when a computer is attached. It’s all about avoiding the Throes of Death! For the first time, Penguin can avoid an untimely death. Not letting batteries deplete too much is very important. Robots go through a death routine often involving random behaviors, some of which can over- stress the servos. The more complex the robot, the more complex the process. Some humanoids will fall down to the floor flailing arms in some unnatural manner, and go through a final writhing or twitching process. Penguin biped is balanced – power on or off, so the action is typically that as described elsewhere.

Download the magazine with the Bat Penguin article, full index, along with the original DIA design file and a jpg to make the bat suit, plus code to drive the Penguin Bat Mon persona. Bat Mon is a play upon words for Batman and Bat Monitor.

https://forums.parallax.com/discussion/108721/penguin-tech-4

Now you have another item from your wish list and improved your robot 100%. With a little extra code, memories can be saved before the batteries fail. ●

Pocket Penguin

Pocket Penguin
Pocket Penguin – Cute, Functional and Fits a Pocket!

by Humanoido

• Parallax Penguin Robot Homepage

Hack your way to cuteness. The Pocket Penguin, conceived by Humanoido, appeared in the Premier Issue of Penguin Tech Magazine.

Build your own cute Pocket Penguin with a rubber band. Fold the main board over on top of the speaker. The mechanical chassis is removed. Works with PING ultrasonic eyes (shown at left).

Show off this tiny robot! Most people will think Pocket Penguin, a stripped down hack to the full Parallax Penguin Robot, is the cat’s pajamas! This is the smallest configuration of Penguin using the two boards and an optional PING))) ultrasonic sensor. Pocket Penguin was born for several reasons:

* It functions without bulky mechanics
* It’s shirt pocket portable
* It consumes less battery power
* IR, optical, ultrasonic, sound, music, display, compass, AI, Virtual Reality!

* It uses the most powerful "single core processor" offered by Parallax  

Building a Pocket Penguin is a piece of cake! Just remove the two boards and connect together as shown with a single rubber band. The only adjustment is to mount the top board at a slight angle so the piezo speaker will have good volume. Think of some application ideas? How about a pocket Jukebox, night vision ranger, event timer, Penguinese talker, morse code sender, theremin musical instrument, digital compass pathfinder, and code within the new dimension of Virtual Reality!

Pocket Penguin Recommended Code

• pocket jukebox
• night vision ranger
• event timer
• penguinese talker
• morse code sender
• theremin musical instrument
• digital compass pathfinder
• suite of virtual reality code

In this configuration, the mechanics are removed and the boards are used for programming sound features using the piezo speaker. When it's switched on, there's no servo movement or tilt and stride to adjust with mechanics to achieve a centered position. The batteries last even longer when two servos are disconnected. So you are looking at my development penguin for writing sound programs. There are many applications for these tiny Penguin robotic controller boards.  ●

Sources

PT1 Penguin Tech Magazine Issue 1
https://forums.parallax.com/discussion/99817/very-strange-parallax-robot

Parallax Penguin Code Eye Skin

Humanoido Penguin Robot Code Collection

Parallax Penguin Eye Skin

Penguin Robot software programmed by Humanoido

• Parallax Penguin Robot Homepage

OVERVIEW
This simple robot eye mimics a human eye by approximating the distance to objects and showing a trace to the image on artificial retina skin. It can even see mirages and hallucinate under certain rare conditions. It can also report statistics
about the object in the line of vision.

' ---------------------- Titles -------------------------------------

' Title      Penguin Robot Eye Skin

' Code Name  penguin_eye_skin.bpx

' Purpose    Eye skin only version of Penguin Robot's Simple

'            Artificial Linear Ultrasonic Retina Eye (ALURE) using

'            a Parallax Ping))) Sensor

' Author     humanoido

' Version    1.1

' Begin      08 April 2008

' Update     15 May   2008

' Hardware   PING))) Expanded Penguin

' ---------------------- Directives ---------------------------------

' {$STAMP BS2px}

' {$PBASIC 2.5}

Eye Skin
This is the eye skin version of the Retina Eye ALURE. Retina has segment display reporting while this version has strictly the eye skin. ALURE is Penguin Robot's Artificial Linear Ultrasonic Retina Eye. The program uses a PING))) expanded Penguin Robot and the AUX port's pin 5. PING))) is an ultrasonic detector that determines the distance of objects. The code creates an artificial retina, the area of the eye that forms an image to show this distance in real time.

' SPECIFICATIONS

' --------------

' Debug Screen Type

'       Real Time

'       Flashing

' Segment Graphics

'       No

' Distance Reported

'       Centimeters

'       Inches

'       Feet

' Imaging Output Method

'       Visual Retina Skin

'       Numerical

'

' Retinal Range

'       0 to 15-Feet

' Reported Infinity

'       0 to 12-Feet

' Typical Operating Range

'       1-inch to 10 feet

' Retina Scaling

'       1-foot = 5 units

' Scaled Numerical Reporting

'       Yes

' Humanlike Features

'       Approximates Distance

'       Has a Simplified Retina

' Super Human Features

'       Sees in Total Darkness

'       Can Snapshot the Retina

' Weakness

'       Soft Objects

' Vision

'       Daylight

'       Night Vision

'       Mostly hard objects

' EEPROM Usage

'       55%

' Number of Registers on Page

'       Used = 3

'       Available = 10

The code is registered with the Humanoido Penguin Robot Code Collection of over 1,000 Penguin programs where it can be downloaded for free.  The original post at the changed Parallax Forum is restored by Humanoido and (currently) found intact at the following link:

https://forums.parallax.com/discussion/103566/penguin-robot-eye-skin

Parallax Penguin Robot in 2005

Parallax Penguin Robots in 2005
Penguin Robots: a Parallax mini R&D project

Fantastic Penguin Robot comments by Ken Gracey - Parallax

How it all began...

Ken Gracey 2005-05-20 21:27
https://forums.parallax.com/discussion/78698/penguin-robots-a-parallax-mini-r-d-project

This is a picture of a couple of prototype "Penguins" made here at Parallax. Same concept as the Toddler but more advanced. These robots stand 3.5" tall and have the following features:

BASIC Stamp 2px chipset
Hitachi HM55B digital compass
Mini blue seven-segment LED
   for Penguin ID in group behaviour (or for program number)
Two photoresistors in R/C circuits
Two infrared emitters and a detector for near-field objects
3-pin socket for Ping)))
Speaker within the body, on the back of the battery PCB
CR123 camera batteries for 6V power supply
Pushbutton for reset

The robots are CNC machined from AL6061 and use GWS micro servos. The stride linkage (moves the legs foreward and backward) attached to the servo horn is a broached Delrin rod turned on a lathe. These robots walk very well and precisely compared to their larger counterparts.·They're part of·ongoing R&D·at·Parallax and will now be used to test a·future wireless programming/network interface. There are no formal plans to make them as a product at the·moment. Sincerely, Ken Gracey Parallax, Inc.

2005-05-21 16:43: We could put them into production, but CNC parts are not cheap. I like things to be affordable to our customers and this is not. This would have to be some kind of Parallax collector's edition robot.

2005-05-24 04:34: The programming port is a 4-pin header underneath the battery pack, on the back. There is no DB-9 on this robot becuase it would be as big as the top PCB. Ultimately it will have a USB mini-B connector with an FTDI chip or a wireless programming interface. The other Penguin referenced by pcrobot in which a BS2/BOE is held above the Penguin's head is an earlier prototype. That Penguin never got a brain mounted on his body, so I held it above him as he walked along. By the way, the Penguin walked for about eight hours today in our office. It looks like CR123 batteries can last for a long time, making them more cost effective (in terms of milliamp hours) than AA or AAAs.

2005-09-03 04:11  I'd like to share with you the latest hardware revision on the Penguin robots. The latest design incorporates several design improvements to the mechanics. Improved precision, a new foot design and better integration with the BASIC Stamp system are some of the changes. In this picture you'll see the prior prototype (the clear aluminum one in back with the electronics) along with three new bodies. The parts are either nickel-plated or anodized red, black or blue. These new versions are not wearing any electronics yet. Meanwhile, we're working on a new PCB design which includes a USB mini-B (with a brand new FTDI chip, not even available to our customers yet!) and an RF module for PC-based control. Of interest is that everybody who sees these small robots assume they're less expensive to make than their larger counterpart, the Toddler. Actually, as a design gets smaller and more precise the cost of parts increases significantly. Machining isn't the only big expense - cost goes up with small servos, stainless steel hardware, mixed SMT/through-hole·boards, and components on both sides.·The cost of building these is almost twice that of a Toddler. Ouch.

2005-09-05 15:32  These will be available in November for purchase. We just launched production for the robot bodies and hardware and the electronics are in their last prototype. It's a limited run, too. Only 50 nickel-plated robots, 50 anodized blue and 50 anodized red. No target price yet, but under $250.

2005-10-05 03:43  I'm using aluminum because I can machine it to exact tolerances, it looks good and can be anodized a variety of colors. This is a high-quality "low-volume" desktop robot, so plastic was not considered as a material. Once you get a chance to hold a Penguin you'll see how the aluminum provides the perfect mass of well-balanced material. The update is that the Penguin hardware is in production at a local machine shop. The electronics are in a final prototype and have not gone to production. The new PCB includes an RF receiver for PC control, a USB port for programming, HM55B compass, speaker, infrared, Ping))) socket, 7-segment blue LED, photoresistors and a power switch. We're still aiming for mid-November, but no promises.

2005-10-06 00:33  We'll be selling it somewhere around the cost of materials and assembly. This should be about $250. Okay, we'll probably make fifty bucks. It's a special robot that we are making to provide as a gift to key distributors, but it will also be for sale in limited quantities (don't believe me? You will when we're out of stock :). It will be 100% manufactured in the USA, with the best QA/QC we have available. I consider it an experiment in quality, precision hobby robotics. There is one business benefit of low-volume manufacturing in the USA. Machined parts can be made in low quantities, without tooling. Minimums can be reduced with high-end products. Inventory levels can be much lower. And considering we're currently swimming in a pool of continuous rotation servos this is an important point at Parallax. Now you will want to become a distributor to get a free one.

2005-12-01 17:26   The Penguin is on the cover of Servo Magazine this month.

"Parallax will offer 1,000 limited edition Penguin kits for purchase starting Q1 2006"

2005-12-01 22:56   The small Penguin was made using a Wabeco F1210 CNC desktop mill. I use FlashCut signal generator (Mach2 with Gecko drives is more popular, though) and CAM work was done with OneCNC. I also used a Wabeco D6000 CNC lathe to turn a small part you can't see, which is the stride linkage between the legs. The specific part is 1" long and has a ball on each end which fits within the leg slot so the bottom servo can be used for stride control. Additionally, this part (which is Delrin) was drilled and broached with the shape of the servo spline. To broach it, I made a tool with a sideways-mounted rotary table. Using a small V-cutter, I machined a drill blank rod with 21 cuts to match the servo spline. Then, this tool was used to punch the shape into the Delrin.

The other tools I used include end mills, drills, and lots of coolant. I also used a benchtop sander to clean up any tabs which I left on the aluminum parts from CNC (to avoid making fixtures for the parts). The CNC tools·I used are among the more expensive for desktop machines, but·a Sherline machine could certainly do the same. A Taig mill could also make the parts. In fact, you could make them with a bandsaw and drill if you were careful (especially if you used acrylic). The drawings are posted, so·you're welcome to try to make one.

2005-12-12 01:46  The only part not shown is the 5/8" machined standoff which holds the servos in place. It's nothing more than a 4/40 5/8" long round aluminum standoff with the middle milled flat. Then, tap a 4/40 hole in the middle of the flat spot and this will be used to mount your servo.

2005-12-15 02:57  The servos mount on two 5/8" round standoffs to the 1/8" holes on the Penguin body. The DXFs should provide the exact detail you need, from which you are free to extract dimensions. We're just finalizing the PCB. As this is not a revenue-generating product we've not been in much of a rush. We're only making 1,000 units and you'll never see it again after that. The reasoning is that the product is entirely USA manufactured and machined, so the cost is truly through the roof.

Other comments

A common ACAD output format. See this, which is particularly helpful:

http://www.google.com/search?hl=en&q=what+is+a+dxf+file

Lots of free tools are available to convert DXFs to something you can read.

Feb. 2006, still waiting for the Penguin robots

https://forums.parallax.com/discussion/83652/penguin-fact-or-fiction

Ken GraceyKen Gracey Posts: 7,295 2006-02-24 06:03 edited 2006-02-24 06:03

Zax- It's for real - I promise! While you've been waiting we've been making some design improvements to Penguin's PCB. Now you have a USB mini-B for programming and a nice socket for RF/Ping additions, not to mention an HM55B compass which is no longer affected by the presence of servo motors. Not being an "official" Parallax product it has to be finished on our free time. In this case, these silly·RoHS requirements (new lead-free rules)·have caused a·delay·so we could make a few PCB updates to other products. And to answer your other question - it's really expensive to make but that won't stop us from making it available for general sale.·There was no value engineering on this product and it's all made in the USA. No release date on the kit, but I saw that the final prototype PCB was sent off today! That means I'll have pre-production units late next week. Ken Gracey Parallax, Inc.

Parallax Penguin Robot Homepage

Parallax Penguin Robot Homepage

New Site of the Penguin Robot Bible/Penguin Robot Society

Updated June 19, 2021
by Humanoido

• Parallax Penguin Robot Homepage

Onsite Penguin Robot Index

• Parallax Penguin Robot Flying High with Mega Projects
• About the Parallax Penguin Robot
• Bat Penguin
• Pocket Penguin
• Parallax Penguin Code Eye Skin
• Parallax Penguin Robot in 2005
• Parallax Penguin Robot Homepage
• Parallax Penguin Historical Change
• Parallax Penguin Alterations
• Parallax Penguin Robot in the Movies
• Penguin Robot Persona
• Parallax Penguin Robot in Magazines
• Penguin Robot Society PRS
• Parallax Penguin Robot Links
• Penguin Robot Software
• Penguin Tech Magazine
• Penguin Robot Discontinued by Parallax
• Most Valuable Penguin Robot
• Penguin Robot Back to the Future
• Penguin Robot First Website
• Penguin WIKI
• Penguin Robot Superhero
• 
  

This Penguin Robot homepage portal is the original Penguin Bible concept created by Humanoido in 2007 and now fully expanded. This modern update is also a replacement for the PRS Penguin Robot Society web page, the long lost Penguin WIKI, a backup to Parallax Forum postings, and an adage of new material and information - this is truly the magic portal to everything about cute little Penguin.

We have it all - index to all Penguin robot pages, all currently known code, user manuals, revision details, modifications, update procedures, and a cache of manufacturer's software & test programs.

The overall vision and design of this page is to provide Penguin Robot links to sources that I will post here (the Index seen above), each with their own title and dedicated page. The plan is to publish a page for each Penguin Robot subject, bringing in the archived information where it can be preserved - inclusive of thousands of my original Penguin Robot programs, codes, posts, and applications (dating back to 2006 when Penguin was first promoted by Ken Gracey of Parallax). I will include the full set of my published magazine Penguin Tech, a literal gold vault of information from my original Penguin web pages, plus mining of my posts from the original Parallax Forums. If the Parallax link works, we'll include it, if not we'll rebuild the page and reconstruct the information.

Humanoido has assembled one of the most massive and complete repositories of our beloved Penguin robot - with information, data, photos, programs, diagrams, resources, links, and long lost details now recovered. Included is the full gamut of constructed and dedicated Penguin Robot versions and all their personifications. We even have the prized and coveted full set of Penguin Tech Magazine, complete with all the original programs, totally free for the download! Refer to this Penguin Robot Home Page, which also represents restoration of the Penguin Robot Society and the Penguin Robot WIKI. I have also restored hundreds of Penguin Robot programs by making sure they work with the correct version of Penguin's calibration programs. This is an ongoing work, and it will take some time to post and publish the wealth of this information so stay tuned to this site. This is a labor of love and a work in progress. In the meantime, if you have comments, feel free to contact me (Humanodo) via email. I will keep these pages and sites as long as possible until I meet my maker.

Search the Parallax Forum for Working Links
site:forums.parallax.com PENGUIN ROBOT

Parallax Penguin Historical Change

• 
  
  Parallax Penguin Robot Homepage

PARALLAX PENGUIN ROBOT HISTORICAL CHANGE

Everything is constantly changing over time and nothing is stable on the internet. Throughout the ravishes of time and the brutality of history, poor little Penguin robot took his share of hard knocks.

Parallax

Some links to outside sources no longer work. In the case of the Parallax Forums, the forums were changed several times. The data is likely still there, only the links have changed - contact Ken Gracey at Parallax to get the information to convert the old links to new links.

Robot Magazine

Robot magazine went out of business and took their servers offline thus deleting all article content that was necessary to make the printed articles complete. This resulted in the deletion of vital article information for my Penguin Robot Superhero Article including photos, code, charts, etc. that were not in the ink printed article. Through great effort, this information was found in several archives, reconstructed and reposted on Humanoido's website along with new additional bonus information.

https://humanoidslabs.blogspot.com/2021/01/penguin-robot-superhero.html

p-robot.com Website - Penguin Robot Society

Penguin Robot Society was founded and developed by Humanoido in 2006-7. Some time later, a second faster website was set up as a partnership between Humanoido and Vrossi (Vittorio Rossi). I initially provided all the information on Penguin Robot, photos, a full set of Penguin magazines, literally hundreds of Penguin programs, and other related projects like the BASIC Stamp Supercomputer. Rossi did an outstanding job putting it all together on the web. Then in 2016, Vittorio Rossi closed all his business activities and websites, and the PRS vanished.

Penguin Robot Wiki

Vittorio Rossi created a one page Penguin Wiki at Wikipedia. After Parallax announced discontinuing the manufacturing of the Penguin Robot, the Wiki disappeared. According to Vittorio Rossi, the administrator deleted it. I have the archived wiki files and plan to reconstruct the page and information on this web site.

Penguin Robot Yahoo Group & Email

Yahoo made changes to Yahoo Groups and access to the group site was no longer available. The Yahoo penguin email site was also deleted by Yahoo.

Parallax Penguin Alterations

• Parallax Penguin Robot Homepage

Parallax Penguin Alterations
CALLING A SPADE A SPADE

We were surprised when someone at Parallax changed the locations of the calibration codes and rewrote the Parallax supplied Penguin code without regard to any previous code or applications.

There was simply no reason to change something not broken. But in the end, apparently the same person broke the Penguin hardware too taking it all the way to end its life.

Was it a troublemaker on the inside, someone that couldn't leave well enough alone, a loose cannon that consciously or subconsciously had it in for this robot, or a brilliant engineer with too many criss cross ideas?

After we wrote hundreds of Penguin programs and applications, it appeared that someone was keen on changing the calibration locations resulting in previous programs failures. Nevertheless Humanoido wrote his own calibration programs keeping the Penguin alive and well.

Here's the original story as it appeared in Penguin Tech Magazine issue number one dated August 8, 2008, and our solution to fixing it. As a note of reference, when Parallax discontinued the Penguin, the files for download at the Parallax Discontinued site included the following versions: PenguinDoc-v1.4 (.pdf), PenguinCode -v1.3 (.zip).

Parallax Inc. revised Penguin Robot software, including calibration code. Calibrated values of tilt and stride are stored in new different memory locations! The standard has been changed! If you want to run any of the hundreds of previous programs, they either will not run or you’ll need to use the calibration program from the Humanoido Penguin Robot Suite of software, such as the automatic servo calibrator program. A list for downloads and the locations are provided within this magazine. See “A Guide to Humanoido’s Penguin Robot Code” on page 7. Rumor has it that discussion is currently going on at Parallax Inc. to change these calibration memory locations back to their original intended positions. We applaud this idea. (note, this never happened) Note: the introduction of calibration values for constants other than tilt and stride, such as speed, may be highly program specific. You’ll need to keep a watchful eye on all storage areas and not overwrite their memory locations!

Parallax Penguin Robot in the Movies

• Parallax Penguin Robot Homepage
• Penguin Robot in the Movies

A collection of Parallax Penguin Robot movies made by Humanoido with different Penguin personas

Red Nose Santa

https://www.youtube.com/watch?v=2zDg6NfXpUo

Weightlifter

https://www.youtube.com/watch?v=GQwxJN6f-oQ

Soccer Player

https://www.youtube.com/watch?v=5Duxpxu4Bhs

Robot Dancer

https://www.youtube.com/watch?v=LpH3ZsNwBn8

Roller Skater

https://www.youtube.com/watch?v=G_H3teQdxxw

Happy Feet Dancer

https://www.youtube.com/watch?v=9owSIXhh_Mo

Parallax Penguin Robot Persona

• Parallax Penguin Robot Homepage
• 
  PARALLAX PENGUIN ROBOT PERSONA

LEFT: BAT Penguin is a realtime battery monitor (BAT-MON). It reads the motherboard LED which has varying brightness depending on voltage level. The modification includes cutout patterns for a full Bat Penguin suit and all the extras.

The Following 8 Personas are in Penguin Tech Magazine

Bat Penguin
penguin-tech-3.html
PT03_FILES.ZIP
PT03.pdf

Read Penguin Tech Magazine issue #3 October 8, 2008, for the construction article. Robot with Batman persona reads battery level. Uses one light sensitive CaS photocell on Penguin's motherboard to read the power LED.

Penguin Humanizer
Read Penguin Tech Magazine issue #2 for the construction article. Penguin robot detects humans with PIR technology by wearing a top hat.

Penguin Gives the Finger

Finally the little bot can flick his big finger to the world. This sole finger is made from a Piezo Film Vibra Tab Mass sensor by Parallax, part number 605-00004, low cost, light weight, simple code, easy RC circuit, uses only 1 sensor and 2 parts (diode, capacitor). Read Penguin Tech Magazine issue #1 for the complete construction article.

www.p-robot.com/pdf/PT01.pdf
http://forums.parallax.com/showthread.php/106195-Penguin-Tech

ASCII Penguin

Read Penguin Tech Magazine issue #2 for the construction article. Program allows the creation of ASCII Penguin robots using the code at the download site.

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' {$PBASIC 2.5}

' penguin_ascii.bpx

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Penguin On LCD

Read Penguin Tech Magazine issue #2 for the construction article. Penguin Robot is now on LCD. Robot has on board LCD for communications. Code includes all details necessary to attach a BPI-215 Scott Edwards LCD Display. This program displays two lines at the full LCD speed of 9600 baud.

http://www.p-robot.com/index.php/display.html

Pocket Penguin

Read Penguin Tech Magazine issue #1 for the construction article. Smallest form factor Penguin robot, a little single processor brain consisting of two folded boards that fit inside a shirt pocket

https://forums.parallax.com/discussion/99817/very-strange-parallax-robot

Penguin Super Robot Brain (12 Processor Brains)

Described in Penguin Tech magazine issue 4 - How I Used the Supercomputer Model to Develop a Super Robot Brain. Bonus Project: Penguin robot was added to the Super Pod Collective, using a one-wire interface on port 5. Tying into the master computer, Penguin increased from a single Stamp brain to 12 paralleled Stamp brains, all running programs at the same time, with power of all computers and all peripherals. This super robot was able to access many sensors that were running at the same time while making decisions and collecting data. For more information, follow the Parallax link. humanoido

http://forums.parallax. com/forums/default.as px?f=10&m=308600

Little Dragon Penguin Robot

Project illustrated in Penguin Tech Magazine issue 4. A red dragon with a green circuit board tail.

The Following 6 Personas are Penguin YouTube Videos
Penguin Weightlifter

This tiny Penguin robot is a great weightlifter! The competition is between two robots - nickel and blue. The little barbell plates are aluminum Chinese Fen coins. I posted the programming code free at the Parallax Forum. This video was filmed on location in China. The weights are Chinese coins stacked on one or two feet. Original video on Youtube. Watch the video and see who wins the competition, nickel or blue - it's all about the power of the leg servos and who has the most precisely conditioned body.

https://www.youtube.com/watch?v=GQwxJN6f-oQ

Penguin Happy Feet Dancer
This tiny Penguin robot is an amazing dancer! Unique programming helps it dance like Mumbles on the Happy Feet movie. Sets a new standard in biped robotic dance! Youtube removed all of the original music. Original video on youtube.

https://www.youtube.com/watch?v=9owSIXhh_Mo

Penguin Robot Dancer

Little penguin robot does the Robot (dance). Movements are started and finished with a lock, to give the impression of motors starting and stopping. The real funk-related robot dance was started in 1969, but was popularised by Michael Jackson. Original video on YouTube.

https://www.youtube.com/watch?v=LpH3ZsNwBn8

Penguin Soccer Player
Penguin Soccer Playing Robot - Trailer! This tiny robot is ready to play robot soccer. Fully capable with wireless remote. Original video on youtube

https://www.youtube.com/watch?v=5Duxpxu4Bhs

Santa Penguin aka Rudolph the Red Nose Penguin
Appeared in Penguin Tech magazine number 4 on page 8. December 8, 2008. Christmas special. So Cute! Rudolph the Red LED Penguin Robot, just in time for Christmas! This robot is absolutely fantastic. It's the hottest selling desktop robot this holiday season because it's so adorable and just loaded with features! Just plug in a jumbo red LED Light Emitting Diode, run the software, and watch his big red nose blink! He'll light the way on Christmas day. Hahaha!!! Or tug on his white beard! (We added that... hehe...) Uses pulse width modulation programming to reduce parts to only one light! Oh, that was a really big word! OK, the cute factor just went off the scale. Check out Penguin's home for lots of free goodies, downloads and stuff at http://www.robotinfo.net/penguin/. Check out my other youtube vids making this tiny Penguin robot dance, play soccer, rollerskate, and lift weights! It's all for fun, so enjoy! Penguin robot with a programmed red LED nose, a Santa Claus beard, and Rudolph personality. Original video on youtube

https://www.youtube.com/watch?v=2zDg6NfXpUo

Penguin Skater
Penguin Robot with its own wheeled skates ready to roller skate. Tiny Penguin robot dances on roller skates! The skates are made from little tablet boxes with wheels made from furniture skid protectors. Original video on youtube.

https://www.youtube.com/watch?v=G_H3teQdxxw

The Following are 7 Smart Penguins

World's smartest Parallax Penguin Robot

In this project, Penguin's brain was connected to a version of the BASIC Stamp Supercomputer. This created the potential to write 16,000 instructions, added all the resources of the Basic Stamp Supercomputer, 176 controlling ports, color uOLED display, green screen LCD, ultrasonic vision, presence sensors, memory, speech in English and Chinese.

Penguin Robot Supercomputer
Twelve Penguins connected together to form an exampling Penguin Robot Supercomputer, each with one BS2px processor, operating in parallel

Penguin with 12 Brains (aka Penguin on Supercomputer)
Another version of a powerful multiprocessor Penguin Robot.

http://forums.parallax.com/showthread.php?p=765509  (fix link)

The Brain of All Brains Penguin Robot
http://forums.parallax.com/showthread.php?108169-World-s-Smartest-Penguin-Robot
A Penguin robot with its BS2px-24 motherboard was initially connected to the BASIC Stamp Supercomputer BSS collective of 12 computers. Then the BSS was upgraded to more computers (~20) and the Brain of All Brains was born. The brain of Penguin Robot was disembodied by tapping into and connecting it to the BSS Supercomputer through the built in PIN Port. In a kind of Brain Cortex collective extension, Penguin's brain was made into a parallel cluster of processing power, rewiring the original thought processes, creating a hive or gang of Synaptic Regio, more closer to mimicking a human's brain. Overall, the operation was a great success! The brain surgery was simple and accomplished by hand. Connect 3 wires, + to Vdd, - to Vss and S to P2 on Master Computer MC. The power of Penguin's brain became so fantastic, that accessing all the power and all the sensors and all the peripherals made it "THE BRAIN" of All Brains!

Penguin the Brain
Penguin robot with the most powerful brain

Penguin Robot with 26 Brains
http://humanoidolabs.blogspot.tw/2013/11/penguin-robot-with-26-brains.html
In this experiment, a Parallax Penguin robot has its head expanded to include more brains. It was connected to the BSS Supercomputer array of processors, the Master Offloader Machine plus a number of rogue boards and processors. The M.O.M. machine has ten processors, BSS has twelve processors, another two plus an additional Lenovo PC, and Penguin has one, making a total of 26 brains!

Memory Master Penguin
Look deep into Penguin's brain for memory observation! Penguin is a Utility, Diagnostic, and Programmers Tool. Read or write to memory with a series of utility programs to help in developing code. With this program, you can look into the brain for memory observation or do surgery. penguin_memory_master.bpx

http://forums.parallax.com/showthread.php/99641-PENGUIN-ROBOT-BRAIN-Memory-Master-the-Code

The Following are 21 Penguin Superheros

Penguin Robot Superhero with All Powers

Superhero robot with seven super powers, articles published in Robot magazine, and Humanoido's Robot website with lots more information.
https://humanoidslabs.blogspot.com/2021/01/penguin-robot-superhero.html

Legion of 13 Superheros

Thirteen Parallax Penguin Robot superheroes, one from each of twelve countries with a special bonus USA Statue of Liberty signature Penguin. Lineup photos published at Parallax Forum, Big Brain Technologies website, Robots website, Robot magazine.

https://humanoidslabs.blogspot.com/2021/01/penguin-robot-superhero.html

Penguin Robot Superhero with Storm Power

You’re outside and a storm is approaching. Suddenly, there’s a flash of lightning. A few seconds later, you hear thunder. Press the reset button! Penguin has the power to report the storm distance on the display in miles. This may potentially save your life in the event of a tornado, hurricane, typhoon, or category storm, letting you know whether the storm is approaching or moving away, giving advanced warning and time to seek a safe shelter. penguin_storm_power.bpx

Penguin Robot Superhero with Direction Power

You’re in the deep woods on a camping trip and hiking and you get lost. Maybe you have food and water for only a couple days. The sky is overcast, so stars and the sun aren’t visible; just trees and mountains. Penguin robot will save you! He will track and report directions of north, south, east and west, and you’ll find your way back to civilization! penguin_direction_power.bpx

Penguin Robot Superhero with Time Power

The power of this time is amazing. Focus your energy, mind and body into Penguin’s precise power minute!. One minute of exercise. One minute of deep breathing. One minute of meditation and relaxation. One minute of rest. One minute of concentration. Generate Chi energy. Mind train. Create life focus. Improve health. Organize yourself. Time Power: one minute a day, or one minute throughout the day can change your life.

penguin_time_power.bpx

Penguin Robot Superhero with Sleep Power

You cannot sleep at night, but you must report to work the next day. If you don’t sleep, you could lose life or limb by being drowsy when working with heavy machinery, driving in busy traffic or even crossing the street at a busy intersection. Never fear, Penguin is here with the magical power of inducing sleep. penguin_sleep_power.bpx

Penguin Robot Superhero with Light Power

The ability to send a rescue message using light waves: SOS in light code! You’re on an outing, camping and exploring with friends and night approaches; in the darkness you get separated from your party. Use the power of light to send a repeating traceable message in the dark that your friends can see, follow and find you. Utilizing full candelabra output from the blue LED segment display output device, lighting as many segments simultaneously as possible, signals of light can be sent across space and time.

penguin_light_power.bpx

Penguin Robot Superhero with Night Power

You’re inside the house and the electricity goes off at night, or you’re outside walking at night and it’s pitch dark. You need to find your way, and there are hidden dangerous obstacles directly in your path. Penguin will use the power of ultrasonic night vision to see in total darkness and alert you to dangerous objects out to a distance of 9 feet; you’ll be saved from potential pain, injury and doctor bills! penguin_night_power.bpx

Penguin Robot Superhero with Life Power

Many people dream about life extension and longevity! It’s known that exercise is a key to better health and maintains a good conditioning that leads to a longer life. In a simple, but healthful, aerobic workout with you, Penguin will “pedometer” the lead for life extension. Can you keep up with this tiny but relentless Zen master? penguin_life_power.bpx

The Following are Bugs & Reptiles

Penguin BUG
Penguin robot takes the form of a bug eyed bug

Transformer Frog
Penguin robot transforms into a frog

Penguin Cricket
http://forums.parallax.com/showthread.php/98302-PENGUIN-ROBOT-Transformer-the-Code
Robot transforms into an annoying cricket. Basically, as a practical joke, Penguin thinks it's cool to hide somewhere (behind the couch) and transform into a cricket, randomly chirping to drive everyone totally insane! Here's the plan: while hiding, Penguin bot will use a random number generator and Virtual Sound Synthesizer to chirp like a cricket, and do it so randomly in time that locating the sound will be difficult. He chirps, then naps an unpredictable time, wakes up, chirps again, then repeats the process! The cricket sounds coming from the peizo speaker are intentionally selected for volume and frequency to create a virtual surround sound appearing to come from every direction. Transforming into a cricket uses numerous techniques. The code includes nap, random number generation, Virtual Sound Synthesizer, virtual surround sound, volume, timing, frequency, and power consumption reduction (PCR).

The Following are Penguin Sound Personas
The Determinator Penguin
http://forums.parallax.com/showthread.php/103690-Penguin-Robot-the-Determinator
Code Name: penguin_sound_determinator.bpx
Penguin accepts values to find the desired tone. Penguin becomes a freqout frequency sound determinator. Input values to find the right tone sound you're looking for. This is code to cycle through the values based on entered frequency numbers, and play the resulting tones.

The Following are Penguin Vision Personas
Penguin Seeing Eye Dog
Penguin robot acts as a seeing eye dog with ultrasonics, sees in total darkness, helps visually impaired navigate, has audible response based on sound.

Ultravision Penguin
http://forums.parallax.com/showthread.php/99710-PENGUIN-ROBOT-Ping-UltraVision-the-Code
Code Name: penguin_ping_ultravision.bpx
Purpose: PING))) Expansion Enables Ultra Vision, Penguin can see from 1-inch out to 9-feet! Just plug in the Parallax PING))) and run this code. Ultravision is a unique way of seeing things, even in total darkness!

The Following are Walking/Running Personas
Carpet Shag Walker Penguin

the only Penguin that can very effectively walk on carpet, high steps to avoid snagging the rug.  penguin_shag_walker.bpx (from the penguin_program_name.bpx suite)

Penguin Old Age
Penguin robot with old age persona, walks like a very old man

Penguin Runner
The fastest running Penguin robot on the planet! This new Penguin robot persona is a motion control program that adds the function of run to penguin. Penguin will run a short distance, then stop. Push reset to repeat.

http://forums.parallax.com/showthread.php/99946-PENGUIN-ROBOT-Run-the-Code

The Following are Dance Personas
Penguin Line Dancer
penguin_line_dance_1v6.bpx
(from the penguin_program_name.bpx suite)

The Following are AI Artificial Intelligence Personas
Penguin AI
http://forums.parallax.com/showthread.php/98922-PENGUIN-ROBOT-Artificial-Intelligence-the-Code
See if you can outsmart the AI Penguin robot playing Tic Tac Toe. If you play a game and Penguin wins, there must be some intelligent thinking in the process. This is one form of AI (Artificial Intelligence). Though AI is a debatable field with many aspects, this demo example makes use of the ancient game of Tic Tac Toe. Pit your wit against Penguin robot. This version has it all - graphics, sound, Penguin laughter, Cats game, and winning and losing!

Penguin Virtual Persona
Virtual Gearing
A virtual gearbox

Virtual Keyboard
A virtual keyboard

Virtual Sound Chip Robot
The ultimate soundbox with a VR chip that creates fantastic sounds

Virtual Servos Robot
The first Penguin robot virtual servo, has no weight yet moves the robot in the third direction

Virtual Touchpad

Virtual Screen Compass

Virtual Human Speech

Virtual Radio

Virtual 2-Digit Display (with a 1-digit display)

Virtual 3-Digit Display (with a 1-digit display)

Virtual Transforming

Penguin Robot Wireless Remote
http://forums.parallax.com/showthread.php?97327-PENGUIN-ROBOT-Soccer-the-Code&highlight=penguin+soccer
http://forums.parallax.com/showthread.php?97415-PENGUIN-ROBOT-Remote-Controller-the-Code-is-Here!&highlight=penguin+soccer
3-Brain Penguin wirelessly connects three Penguin robot brains together, shares command data transmitted by a master Penguin brain on a wireless infrared communications channel. Uses stock Penguins, PBASIC programming & no added hardware necessary.

Penguin Astronaut
http://forums.parallax.com/showthread.php/137688-Flying-Penguin?p=1191890
A flying Parallax Penguin persona. After the Penguin Super Hero project, a Penguin Astronaut was developed for trips into space. Because Penguin robot uses the most powerful Stamp processor and already has sensors built in (compass, light sensors, infrared sensors, input switch, seven LEDs (as segments), ports for sensor add ons), it makes an ideal "working payload." As an astronaut, Penguin can control things with its two tiny and light weight leg NARO servos.

Penguin BOE-BOT
Robot that's a very tiny Boe-Bot robot. You can make a tiny Boe-Bot out of a Penguin and get double the fun. Take the boards and fold one back over the other. Then modify two old worn miniature Penguin servos for continuous rotation. A couple bottle caps make good wheels.

https://forums.parallax.com/discussion/99979/penguin-boebot

Penguin Spy Bot
http://forums.parallax.com/showthread.php/98521-PENGUIN-ROBOT-Counting-Eye-the-Code
This is a Penguin robot with a big watchful eye that can hide and see people walking around. The eye has purpose - count people passing by a doorway.

Scout Penguin
Boy Scouts will be envious of this scouting master equipped with a compass, light beacon, and morse code signaling device

Aerobic Penguin
Robot does aerobic exercises

Penguin Talker
Robot talks

These are 7 Penguin Superpowers

to be continued...