Little Quadruped Robot

This is my first experience in legged robots. By making this quadpod robot I wanted to learn how to implement different gaits using servos. I used the same PCB designed for the other project, R/C little-buggy. I am attaching the circuit schematic which has the same micro-controller design as the other porject. Each leg has two degrees of freedom (DOF). I used micro servos (1.7 Kg.cm) and the result is good. However, it could be better if servos were a little stronger.

The controller board Schematic is attached as "quadpod.pdf". I had to change some components and modify the reset circuit of micro controller, though. These changes are not shown in the current version of schematic. Like the project R/C little-buggy, I programmed the robot with CodeVision AVR.

In the video, the robot takes its first steps according to the fastest gait I managed to figure out. :)