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 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.
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
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
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.
