Stampe 6

built by Mats Wiklund


Click on an image to enlarge it
Target Environment	Locomotion Method
Indoors	6 Legs
Sensors / Input Devices	Actuators / Output Devices
Devantech SRF04 sonar	12 Hitec HS-422 servos 2 Hitec HS-81 servos
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
http://www.dsv.su.se/~matsw/faktabanken/robot/robotmain.htm
Comments
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.

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