Let's Make Robots!

UGLY roaming quadruped

Autonomous roaming using a variety of gaits

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 and touch sensors to his took kit of navigation. I just haven't had the time. You will note in the vids that his appearance morphs. At one point, his sonar was mounted on top and included a stylish bonnet. Later on, I moved the mount to the very front of the bot. This is a fun project I return to from time to time.  Keeps me off the streets at night.

Comment viewing options

Select your preferred way to display the comments and click "Save settings" to activate your changes.

I watched the videos with the sound off and it looked as if it should THUD whan it walks.

nice bot in an UGLY kinda way!

Those feet of his are actually bases from low voltage garden lights.  This quadruped doesn't have a very good center balance when one leg is off the ground, so I enhanced his balance by giving him wider and flatter feet.  The result is a better platform to mess around with creep gaits.  The other result is a 'clup...clup...clup' sound rather than a thud when he walks about.  Too funny.  Thanks for the comment. 

Yes, he is beautiful in an UGLY way.  Burned out a lot of servos till I figured out this bot's gait.  Thanks again.

Great looking bot my friend, I like the look of his head and smooth walk. Thanks for sharing :)