Genghis was a six-legged robot built by Rodney Brooks at MIT in the 1980s. It demonstrated how complex behaviors such as crawling can emerge from a network of simple, decentralized controllers.
Equipped with modular subsystems and a subsumption architecture (a control approach linking limited, task-specific perception directly to action).
N/A cm | N/A in
35 cm | 13.8 in
25 cm | 9.8 in
1 kg | 2.2 lb
N/A km/h | N/A mph
12 force sensors, six pyroelectric infrared sensors, two inclinometers, two touch-sensitive whiskers.
12 model airplane position-controllable servomotors
Three silver-zinc batteries
Four on-board 8-bit microprocessors linked by a 62.5 kilobaud token ring. Total memory of 1 KB of RAM and 10 KB of EPROM.
Distributed control system with incremental software layers (for controlling different behaviors).
DEGREES OF FREEDOM (DOF)