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CrustCrawler Robotics
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Customer Kudos

I am assembling the Nomad I just bought from you folks, and having a great time. This is a very well-done kit, and I have tried them all.
I just wanted to congratulate you all on a fabulous job on the Nomad. It's a truly awesome robot and it's something to be proud of.
 
 
 
 
 

Nomad HDATS

(Heavy Duty All Terrain System)
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Discontinued

Want more torque?

Upgrade your Nomad HDATS to include 18 Hitec HS-645MG Servos for an additional $276.00. Upgrading is simple just click the purchase button. Follow the checkout instructions, then check the "HDATS Torque Upgrade" check box when prompted.

Want Incredible Torque

Upgrade your Nomad HDATS full kit to 18 HSR-5995TG robot servos for $2,585.00.
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Need a price quote with shipping or PO?

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How to place a purchase order.

Getting Started

Troubleshooting and connection help
Check Download and install the lastest USB FTDI Driver
Assembly Guide
check Nomad ContructionTips
GaitPIC BS2p interface Schematic
GaitPIC Power and Servo Connections
GaitPIC-Nomad Command Protocol

Software

Test RC connections
Check Test LCD Display
Walking Engine
Leg Joint Test
check Nomad Demo Program RC and AppMod control non GaitPIC BS2p code
GaitPIC code supplied by Steve Norris
GaitPIC Template for the BS2p
GaitPIC Demo for the BS2p
GaitPIC Template for the BS2
GaitPIC Demo for the BS2
Spin Project
check Propeller Powered Nomad (by Steve Norris)

Open Source PSC Software

cpsci
Create, save, and share, timed sequences with this FREE open source software solution from CrustCrawler Robotics. Easily migrate complex motion files to PBASIC without ever writing a line of code!

Videos

Spin-CCW
Spin-CW
check Walking-Fast
Walking-HiStep
Walking-Slow
Stand and Walk

Nomad HDATS Full Kit
Sold Out!
(1) GaitPic
(1) 3DOF Nomad Hardware Kit
(1) Nomad HDATS Assembly Manual
(12) Hitec HS-475HB Servos
(6) Hitec HS-645MG Servos
(1) Parallax Board of Education
(1) Parallax BASIC Stamp 2p24 Module
(2) Parallax Servo Controllers
(1) Parallax LCD Ternimal AppMod
(8) Servo wire extensions
(1) 6V - 24 Watt power supply
(1) BOE power supply
(1) Serial Cable

Nomad HDATS Basic Kit
Sold Out!
(1) 3DOF Nomad Hardware Kit
(1) Nomad HDATS Assembly Manual
(12) Hitec HS-475HB Servos
(6) Hitec HS-645MG Servos
(8) Servo wire extensions

Nomad HDATS Hardware Kit
Sold Out!
(1) 3DOF Nomad Hardware Kit
(1) Nomad HDATS Assembly Manual
Minimum recommended servo torque ratings at 6V:
(12)  76 oz-in (5.5 kg-cm)
(6)  133 oz-in (9.6kg-cm)

Specifications
Material Super strong .063 Gauge 5052 aluminum with type II anodizing for weather and scratch resistance Prototyping Space 302 sq. inches (1890 sq. cm) of total prototyping space is available on the lower and upper decks.
Dimensions
Deck 13-7/8" (diameter)
26" leg to leg (standing)
Over 5" of ground clearance
Over 12" of leg lift
Height
Standing 6" (15.24cm)
Squatting 4.86" (12.34cm)
Ground Clearance 5” (12.5cm) to the bottom deck from the ground when standing
8 – 3/8” to to top deck from the ground when standing		 Leg movement 3 degrees of freedom (vertical and horizontal)
Payload Capacity To be determined Weight 5 lbs. with servos
Weight with electronics 5.75 pounds Shipping Info 8.65lbs. 15"x15"x15" professionally packed box.
HS-475HB Servos
3 Pole Motor KARBONITE Gear Ball Bearing
Torque at 4.8V 61.1 oz-in (4.4 kg-cm)
Torque at 6.0V 76.37 oz-in (5.5 kg-cm)
Speed at 4.8V 0.23 sec/60°
Speed at 6.0V 0.18 sec/60°
Dimensions 1.52 x 0.77 x 1.41in.
38.8 x 19.8 x 36mm
Weight 1.41 ounce (40g)
HS-645MG Servos
3 Pole Motor Metal Gear Dual Ball Bearing
Torque at 4.8V 106.93 oz-in (7.7kg-cm)
Torque at 6.0V 133.31 oz-in (9.6kg-cm)
Speed at 4.8V 0.24 sec/60°
Speed at 6.0V 0.19 sec/60°
Dimensions 1.59 x 0.77 x 1.48in.
40.6 x 19.8 x 37.8mm
Weight 2.11oz (60g)
Electronics
Parallax Basic Stamp 2p (BS2p)
Parallax Board of education (BOE)
2 Parallax Servo Controller (PSC)
Parallax LCD AppMod
Accessories
S3 tilt / pan system
S2 sensor stand
Infrared distance detection kit
5V Regulator Kit
3300 NiMh battery
Battery charger
BOE power supply
Servo power supply
See all accessories

About the Nomad HDATS

New for 2005 is our largest, most advanced laser cut robot ever offered in a walking kit. Introducing the Nomad HDATS (Heavy Duty, All Terrain System). At over 26" wide leg to leg, generous 13 - 7/8" decks for additional electronics, power and hardware, this is the "top of the line" offering for a kit of it's kind. Featuring a heavy duty, 4-way adjustable, 3-degrees of freedom (3DOF) leg design with 4/40 threaded rods and adjustable brass couplers makes carrying a heavy load of added electronics, power and hardware over difficult terrain a breeze.

No longer is your robot limited to navigating your living room floor! The Nomad HDATS inherits all of LCD AppMod with 4 push buttonsthe key structural design components such as pem stud pivot points and pem nuts as found in our Hexcrawler and Quadcrawler kits.

It's advanced design and complex walking kinematics does not have to be difficult to program as we have taken care of that for you. A Parallax LCD Appmod is used to select the gate speed and direction with just a touch of a button! Simply build the Nomad HDATS, download the easy to use, R/C ready code, select your gate speed and direction from the LCD Appmod screen and press "go". It's that easy!

If you want sensor accommodation and expandability, the Nomad HDATSS2 Sensor Stand has been designed to integrate with our S2 sensor stands (for 360 degree obstacle detection and avoidance) and the S3 Tilt / Pan system for sensors and cameras of all shapes and sizes.

Software

The Nomad Demo Program is a fully adjustable modular program written in PBasic. The program provides 12 directions and 16 speeds setting through the 4 button LCD AppMod (pictured above). The Nomad Demo program also auto-detects the presence of a radio receiver. If a RC receiver is connected to the BS2p and powered, the Nomad will move under RC control.

If you’re a novice coder the modular program design makes it easy to tweak the program to accommodate your robotic applications. Adjustable values include leg lift, speed, and direction.

Are you an intermediate to advanced coder? If so, we have the Walking Engine with gaitCode program. This code utilizes the same modular design as the Demo program but the LCD AppMod and RC sub routines have been removed. Simply pass the gaitCode byte variable to the Parse_GaidCode subroutine and access any combinations of speed and direction. Therefore, you can create custom robotic applications and not worry about the complex walking sequence.

If you are interested in created custom walking sequences, we have a programming tool called Leg Joint Test .This program allows you to edit the EEPROM table responsible for joint movement. By controlling each individual joint or controlling a leg as a unit, you can test and implement custom walking sequences.

Accessories
Add any of the items below to your to your robotic order
Simply click the purchase button above. Follow the checkout process until you are asked to add special items to your cart.
$159.00

6 Channel FM Radio Control System
The all new Laser 6 radio systems are packed with features. With an ergonomically designed case the Laser 6 is an excellent choice for a feature packed economical 6 channel radio system for robot control.

Kit includes:
6-Channel Radio
Duel conversion RCD 3500 Receiver
(2) Hitec 322HD Servos
Nicd Battery (transmitter)
117V charger

 Features:
6 Channel 75 mHz FM Transmitter
All Channel Servo reverse
Channel 1 and Channel 2 Dual rates
ATV's Channels 1 and 2
EPA on Channel 3
Channel 1 and 2 mixing function
Channels 2 and 4 mixing function
Trainer Capable
$26.95

Servo Power Supply
This transformer is highly recommended for supplying continuous servo power (6Vdc 4A) without the worry of constantly re-charging a battery pack. It comes with a male adaptor plug which can be mounted to your project making power connections easy. Just plug it in!

The Servo Power Supply is included with the following SG5-UT Full Kit, SG6-UT Full Kit, Nomad HDATS Full Kit, and HexCrawler HDATS Full Kit.

Contents
(1) 24W, 2 prong, 6V, 4A Transformer
(1) Male power adaptor plug
$8.95
BOE Power Supply
This 9v 500ma supply transformer is highly recommended for continuous use of the BOE/Basic Stamp combination without the worry of constantly re-charging a battery pack.
$54.99
2400 NiCD battery
2x3 2400mah NiCD battery pack (7.2V) 		 
$29.99
PING)))™ Ultrasonic Sensor
•  Range - 2cm to 3.35m (~.8" to 11.3')
•  Supply Voltage: 5V +/-10% (Absolute: Minimum 4.5V, Maximum 6V)
•  Supply Current: 30 mA typ; 35 mA max
•  3-pin interface (power, ground, signal)
•  20 mA power consumption
•  Narrow acceptance angle
•  Size - 22 mm H x 46 mm W x 16 mm D (0.85 in x 1.8 in x 0.6 in)
•  Simple pulse in / pulse out communication
•  Indicator LED shows measurement in progress
•  Input Trigger - positive TTL pulse, 2 uS min, 5 uS typ.
•  Echo Pulse - positive TTL pulse, 115 uS to 18.5 mS
•  Echo Hold-off - 350 uS from fall of Trigger pulse
•  Burst Frequency - 40 kHz for 200 uS