This is a Four legged walking robot. Powered with two
motors and an 8-bit controller, this small beast can walk
over small obstacles.
This kind of 'bot walks via careful positioning of walker CG,
good timing of motor motion. I've go into more detail on this in a
subsequent page, but basically, you want the walker CG to shift between the
front to back as the walker motors move. Meanwhile, the walker is being
supported by 3 of 4 legs almost all of the time. This means you need to
build this kind of walker such that its CG is in a selected region (in
particular, one that will allow the walker's weight to "shift" correctly).
The one that you see in the figure, is based on Toy motors. But
unfortunately, the torque per weight ratio is very poor. The robot cannot
lift itself. I'm trying to get better motors. Once the design is complete, i
will showcase it here.
