Stampe 6

built by Mats Wiklund

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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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