Stampe 9

built by Mats Wiklund

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Target Environment Locomotion Method
Indoors 2 Legs
Sensors / Input Devices Actuators / Output Devices
Ultrasonic ranger (SRF-04) 6 servos (locomotion)
2 servos (head movement)
Control Method Power Source
Autonomous Battery
CPU Type Operating System
BASIC Stamp None
Programming Lanuage Weight
Time to build Cost to build
1 month N/A
URL for more information
Stampe 9 uses passive balancing by shifting its weight during the walk cycle. Four of the six leg servos acts sideways, allowing the robot to shift its weight from side to side. With the weight shifted to one side, the opposite leg can be lifted. Using the rotational joint in the feet, the robot can then swing the lifted leg forward.

As the robot body swings back and fourth during the walk cycle, one of the two head servos constantly compensates for this, keeping the head pointed in the direction of travel. The other head servo can then sweep the head from side to side when using the ultrasonic ranger to measure distances to obstacles.

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