Stampe 4

built by Mats Wiklund


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Target Environment	Locomotion Method
Indoors	3 Legs
Sensors / Input Devices	Actuators / Output Devices
Devantech SRF04 ultrasonic	10 Hitec 422 servos Futaba mini servo
Control Method	Power Source
Autonomous	Battery
CPU Type	Operating System
BASIC Stamp	None
Programming Lanuage	Weight
BASIC	N/A
Time to build	Cost to build
about 1 month	N/A
URL for more information
N/A
Comments
Stampe 4 has 3 servos per leg (hip, knee, foot), and an extra 4:th servo on the middle leg (foot rotation). When walking the robot lifts either the middle leg alone, or the two outer legs together. This gives a good, centered balance: it either stands on a single leg that is right underneath it, or on the two side legs together. When turning, the robot stands on the middle leg and rotates the foot rotation servo on that leg. The robot is controlled by a Basic Stamp 2sx chip, that sends orders to the servo controller via an RS232 serial line. A Devantech SRF04 ultrasonic ranger is mounted on a Futaba mini servo that sweeps it from side to side. During each sweep the robot measures distances in 5 directions, in approximately a 90 degree arc. If an obstacle is detected, the robot turns in the direction that is "most free", where the most far away distance reading was measured.

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