MHEX by Mikael Stewart

This is my six legged walking robot or hexapod called MHEX, 
meaning "Mikaels Hexapod". I started building MHEX early in
2001 at the age of 15. MHEX uses 12 * 5kg/cm servo motors 
currently (as of 30/9/01) controlled by a 16F84 PIC running @ 4
mHz. MHEX has 12 channel current sensing system for 
touch/bump/obstacle detection. There is a ccd camera and 
sonar ranger mounted on a servo pan/tilt system for vision and 
distance feedback. MHEX has rubber feet and has a body made entirely
from scrap aluminiun.

MHEX took me about 8 months to plan and build and get walking 
for the first time. Mhex can now walk up shallow stairs on
his own without me commanding it and can detect obstacles in 
the way, he can carry an extra 4kg of weight while drawing
about 2 amps in 'slow walk' mode.

The servo motors and ccd camera were the only things that 
really cost me anything as the scrap aluminium was traded for
scrap copper piping. The servos were $28.50 ea minus the 2 
on the pan/tilt system and the ccd cam was $92 in New Zealand
Dollars.

MHEX has a website at:
http://www.geocities.com/viasc/mhex/mhex.htm