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This critter has been with me for some time. Built around a (discontinued) Crustcrawler quadwalking kit, UGLY is now an autonomous 2dof, 4 legged roamer using a Basic Stamp and BOE tied into a Ping sonar. He has a fairly cool gait and routines that keep him mobile so long as he doesn't find himself lost in the treacherous terrain of chair legs under the dining room table. UGLY is not a robot you want to leave unattended. This navigation challenge could be alleviated by simply including infrared sensors ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/ugly-roaming-quadruped