Spyder - 16 neuron BEAM robot

Spyder is a 16 Nv neuron branched microcore BEAM robot. It features a 4 neuron looped CPG (Central Pattern generator) with Nv branches leading off of each neuronal node. Each branch consists of 4 neurons (counting the CPG base neuron as the first in the chain). Each chain's neurons corresponds to one leg, and each individual neuron carries a function like lift leg, pull leg, drop leg, and push leg. These signals feed into a signal conditioner that blocks error states from passing (and thus damaging the H-bridge motor drivers. The H-bridges are a basic 6 transistor circuit. There are 8 motors, two per leg. The connections between the neural board and the signal conditioning board are socketed, and entirely reconfigurable. The goal was to build an additional network to add higher behavior, but with the acquisition of a mill, I think I'd rather save such efforts for a fully retooled "body". Spyder's body consists of soldered welding rod, and requires occasional maintenance.

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