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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.

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>you do not need PWM for servo control</p>
<p>This is SO AWESOME. We love Stompy! :D</p>
<p>Thanks!</p>
<p>can u show the wiring diagram ,btween the adruino mega and servos and everything else </p>
<p>The image below shows how the servos are connected. I didn't have room for them all, so I just put in two representative ones. Just make sure to use different power supplies for the arduino and the servos since the Arduino pins cannot supply enough current to run the servos. The two power supplies do need to share the same ground connection.</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>
<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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