Meet Stompy, the Arduino quadruped robot.

Most of the quadrupeds I’ve seen use “insect” type legs, but I wanted to try one with “mammal” type legs. The result was Stompy, a quadruped using eight servos, with each leg consisting of a hip joint and an ankle joint (no knee). Stompy uses a “trot” type gait where the front right leg is synchronized with the back left leg and these two limbs move in antiphase with the other two limbs. The result is a stomping type of walk, but it gets the job done. Controlling all the servos requires eight PWM pins and standard Arduinos only have six, so I decided to use an Arduino Mega. Stompy uses an IR distance sensor to keep from bumping into things and is capable of autonomous movement.

<p>can u show the wiring diagram ,btween the adruino mega and servos and everything else </p>
<p>woaahh thats an incredable work u did there bro ,... i want to makeone tooo ..</p>
<p>Thanks! Glad you liked it!</p>
<p>i am noobie and i have a doubt ..i see that u have separate program codes for forward left turn right turn reverse etc .. cant it all made one ?? .</p>
<p>Yes! The file containing all of them is given in Step 5. That file also contains code to process information from a IR distance sensor. When Stompy gets too close to a wall he stops, looks to the left and right to take distance measurements, and then continues in the direction of the clearer path.</p>
can you share a video ?
<p>There are more videos in Steps 4 and 5 of the instructable.</p>
<p>Thanks for the board concept </p>
<p>Glad you liked it!</p>
Could you use an arduino uno instead of the mega
<p>I'm not sure. The 8 servos for the legs need to be controlled by PWM pins on the Arduino, but there are only 6 PWM pins on an Uno (pins 3, 5, 6, 9, 10 and 11). I think there might be ways to extend PWM capability to other pins on an Uno, but unfortunately I don't know how to do it.</p>
<p>Can it turn?</p>
<p>It's a little clumsy, but it can turn. There is a video of it turning in step 4.</p>

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