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|Target Environment||Locomotion Method|
|Sensors / Input Devices||Actuators / Output Devices|
|Devantech SRF04 sonar||12 Hitec HS-422 servos
2 Hitec HS-81 servos
|Control Method||Power Source|
|CPU Type||Operating System|
|Time to build||Cost to build|
|About 1 month||N/A|
|URL for more information|
|Stampe 6 is a six-legged walker with individual movement of each leg, and two degrees of freedom per leg. Current software uses an alternating tripod gait, giving a top speed of about 15 centimeters (about 6 inches) per second (at heavy power consumtion). A more power-conserving mode gives a speed of about 5 centimeters (about 2 inches) per second.
A forward pointing Devantech SRF04 ultrasonic ranging module is mounted on a pan/tilt head. The robot sweeps the sonar from side to side, measuring distances i a 90 degree arc. When an obstacle is detected, the robot turns in the direction that is "most free", where the longest distance reading was obtained. By tilting the head down and measuring the distance to the floor/ground, the robot can avoid falling down stairs and other steep drops.