YETI is a walking robot, named after “the abominable 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. 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 foot followed by the other just like human 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 Pulse Width Modulation (PWM) control allows the servomotor to make a very accurate rotation step.

 

YETI has a front servo and a bottom servo. The servo at front pulse move the feet upward. The forward and backward move is made by the bottom servo. In this manual another name for bottom servo may also be leg servo!