Ed is the first BEM bot that I made. No, you're right, there is no A in Ed. He took a one way trip to the robo-graveyard in his infancy. This was due to the fact that he was constructed in the infancy of my understanding of electronics, and ignorance of the always benificial sockets (or at least the little plugs in them) ... a goldmine for the free-former as I later discovered.

Ed was inspired by Chiu's 3 motor walker. 3 motor walkers have an extremely organic walking gait compared to a 2 motor walker, as I'm sure Chiu will attest to. The single antenna that you see was for reverse, using a 74ls157. I was able to get him to turn which led to his demise, as is evident at the bottom of this page.

The side view close up directly left was before I implemented his turning capabilities, which was added in the pics below. After I put these in and got him turning well I triggered both of his turning sensors, which were also antennas. And would you believe his walking gait improved ten fold! In my haste to make that his normal way of stride I disassembled his brain for the second to last time. AAAAARRRGHHHH!!!! I killed him. Lesson I learned; sockets and plugs, don't work without them, and 1/8 watt resistors.