Page 265 - Robots Androids and Animatrons : 12 Incredible Projects You Can Build

11.15 Underside of hexapod walker with three servo motors

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11.16 Hexapod walker ready for control electronics

using 4 AA batteries. The microcontroller circuit is built on a small
solderless breadboard. The battery pack and circuit are laid on top
of the aluminum body. Figure 11.5 shows the completed walker
ready to run.

Microcontroller program
The 16F84 microcontroller controls the three servo motors. There
are plenty of input/output (I/O) lines and programming space left
over to improve and add to this basic walker.
Team LRN
Chapter eleven