YAQ (Yet Another Quadrupedal). Quadrupedal walking robot or four legged walking robot is a mechanical construction using 4 legs to move at slow speed. This project demonstrates utilization of various crawling gaits to achieve synchronized movement of the robot. Each of the tested gaits is statically balanced, the dynamically balanced gaits are outside the possibilities of this project. The mechanical construction uses 3 mm plywood and budget 9 gram servos (TowerPro) - 3 servos each leg. The electronics is fitted on a single, proprietary board having 2 conducting layers. Design uses Atmel Mega168, custom servo shield based on two Johnson decade counters, IR receiver and two, independent power sources.
Demonstrates different types of statically balanced gaits to walk.
- Actuators / output devices: TowerPro 9g servos
- Control method: IR, Mitsubishi IR Protocol
- CPU: Atmel Mega168
- Operating system: none
- Power source: 7, 4V LiPol
- Programming language: C
- Sensors / input devices: OS1838 IR Detector
- Target environment: indoor
This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/yaq-yet-another-quadrupedal