A series of 12 degree of freedom hexapods powered by RC servos and controlled by an handwired 68HC11 controller board. Mass about 1.2kg. Length about 240mm. Cost about 300UKP. Uses legs made from 4 bar linkages to investigate climbing obstacles. Problems:- It takes a long time to build an handwired controller board! Time too build Controller board, much too long!. Latest chassis about 10 hours.
My web site has pictures, contruction drawings and notes showing the evolution of the designs.
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