It has 3 legs and 5 foots :
- one big leg in the center (it can turn around it)
- two legs with both two foots that can move up/down forward/backward
I am currently adding sensors and a new degree of freedom so that the robot will be able to translate in any direction.


Movie pentapod
Its first trip !

Source code

Program to control 8 servo controllers from a PC serial port connected to a 68hc11F1FN. board schematics & pcb are on my other web pages; pc source code (Visual C++, 68hc11 assembler source code) is here :