Stampe 8

built by Mats Wiklund

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Target Environment Locomotion Method
Indoors 1 Leg
Sensors / Input Devices Actuators / Output Devices
Devantech SRF-04 sonar 4 servos for locomotion
2 servos for pan/tilt head
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 2 months N/A
URL for more information
http://www.dsv.su.se/~matsw/faktabanken/robot/robotmain.htm
Comments
Many six-legged robots end up moving three legs together all the time, with those three legs performing identical movements. This means that groups of three servos move together, performing exactly the same movements. This seems an unneccesary duplication that adds unwanted weight and power consumption.

Stampe 8 uses a single leg, that has a foot in one end, and the robot body at the other end. The foot is in the form of a small tripod, and the robot body has passive supports forming a larger tripod. The leg is in effect connecting two tripods, a smaller one inside a larger one.

Half of the time the leg hangs from the larger "robot body" tripod, lifting the foot, and half of the time the leg stands on the foot tripod, lifting the "robot body" tripod above. This is a special case of the alternating tripod gait, with a single leg performing all the motion.

The CPU is a Basic Stamp 2sx, and obstacle avoidance is thru a Devantech SRF04 ultrasonic ranger on a pan/tilt head.

Due to the heavy loads placed on a single leg, high torque digital servos (Hitec HS-5645) are used in the leg (plus a HS-422 servo for rotating the foot). For balancing reasons, all the heavy batteries are housed in the foot.

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