6-Legged Custom Robot Bug

	Videos Tripod Gait mpeg: slow speed turn (921KB) mpeg: fast gait (493KB) mpeg: close-up (564KB) mpeg: ramping speed (930KB) Ripple Gait mpeg: medium speed turn  (517KB) mpeg: fast gait (364KB) mpeg: ramping speed (851KB) Wave Gait mpeg: medium speed turn (447KB) mpeg: fast gait (298KB) mpeg: ramping speed (1,188KB)
	Reference "A Comparison of Three Insect-Inspired Locomotion Controllers" - by Cynthia Breazeal

	Pictures and Descriptions Built from scratch using plastic parts created with my desktop CNC machine. Uses a PIC16F877 microcontroller programmed in Assembly for gait control.

	The robot has 6 legs powered by hobby servos. Each leg has two servos for lift and stroke movements.
	Here's the 40 pin microcontroller used to control the leg motions. It controls all of the low level servo timings, serial transmission/reception, RC receiver interfacing, etc.
	Battery power is provided by 5, 2.4AH NiCD cells shown along the bottom in red.
	In the rear is the 433MHz wireless serial transceiver and antenna. I'm able to control the robot through teleoperation using my portable command center.