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|Target Environment||Locomotion Method|
|Sensors / Input Devices||Actuators / Output Devices|
|Devantech SRF04 sonar||Hitec HS-422 servos|
|Control Method||Power Source|
|CPU Type||Operating System|
|Time to build||Cost to build|
|URL for more information|
|Many 6-legged robots have the legs sticking out from the sides of the robot, in a fashion similar to that of alligators, crabs, or spiders. With Stampe 7, I wanted to try a leg arrangement more similar to that of most mammals, with the legs gathered underneath the body, like for instance a dog. Stampe 7 have legs with hip and knee joints that both move around horisontal parallel axis perpendicular to the direction of motion.
The CPU is a Basic Stamp 2sx, and obstacle avoidance is thru a Devantech SRF04 ultrasonic ranger on a pan/tilt head. All leg servos are Hitec HS-422.
Results show aestetic walking behaviour, with ability to pass through narrower passages (in comparison with "sticking out the sides" types of leg arrangements). Also, the legs can be more stretched out at the beginning and at the end of each step, and more folded in the middle of the step. This is useful since the distance to the floor is shorter in the middle of the step, when the leg is straight down. The alternating tripod gait algorithm is used.
The drawback with this leg arrangement is that turning requires a certain amount of skidding against the floor. This works acceptably well on hard low-friction surfaces like wood, linoleum and stone floors, but not on rugs and tiled floors with deep cracks between the tiles.