About the article

Walking Bug

A robot with servo-powered legs

Walking Bug

Making a robot walk instead of drive around on wheels can be a daunting task. The author of this Walking Bug came up with a remarkably simple solution. Although our robot does not stand upright on two legs, it can actually walk using just two servos and a minimumamount of electronics. The power of the design is, of course, found in the combination of these two elements. The servos make the ‘natural’ movement needed here: just back and forth. As an advantage over other actuators, they can be directly driven by a microcontroller, which saves us a lot of driver and interfacing electronics. The mechanical construction of the Walking Bug is also relatively simple, the ‘legs’ being secured directly to the servo spindles.

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Gerber file

CAM/CAD data for the PCB referred to in this article is available as a Gerber file. Elektor GREEN and GOLD members can exclusively download these files for free as part of their membership. Gerber files allow a PCB to be produced on an appropriate device available locally, or through an online PCB manufacturing service.

Elektor recommends its business partner Eurocircuits as the company of choice for its own prototypes and volume production in selected cases.

Component list
R1 = 10kOhm
R2,R3 = 1kOhm5
C1,C3,C4 = 100nF
C2 = 10µ F 16V radial
D1, D2 = LED, low-current, 3mm
IC1 = AT90S2313-10PI
X1 = 4MHz ceramic resonator
K2 = 5-way SIL pinheader
K3,K4 = 3-way SIL pinheader
S1, S2 = miniature microswitch, (e.g., MBF5B, Conrad Electronics # 704571)
2 servos
2 battery holders for 2 AAA batteries
PCB, ref. 040071-1
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