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|Target Environment||Locomotion Method|
|Sensors / Input Devices||Actuators / Output Devices|
|Devantech SRF04 ultrasonic||10 Hitec 422 servos
Futaba mini servo
|Control Method||Power Source|
|CPU Type||Operating System|
|Time to build||Cost to build|
|about 1 month||N/A|
|URL for more information|
|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.