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Zee Scale

Zee Scale is a two legged 4 servo walking robot. It uses it's large surface area feet to gain stability while walking transferring it's weight from side to side. At the time of writing Zee Scale is in a very basic form and is only capable of walking forwards with a bit of a waddle. As you can see from the first video it's a little clumsy at the moment but I will sort this out soon while I’m tidying up the walking algorithm. Once I get the walking part sorted out I’ll start to add sensors and a bit more intelligence to it so that it can avoid obstacles and such.

First video (WMV 544K)

Second video is of a refined version of Zee Scale, walks a little smoother

Second video (WMV 700K)


  • 4 Acoms AS-12 servos
  • PIC 16F876A micro controller
  • Aluminium Chassis
  • 4 NiCad Batteries (this will be changed to Lithium Polymer to reduce weight)
  • Sensors to be decided (possibly IR and Ultrasonic)








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