Robot based on a PIC 16F876 microcontroller and a design from Servo magazine, but with the joints turned around to make it more like a human set of legs. Cheap servos augmented by some springs to carry some of the weight. Servos run from 5 NiMH cells located on the feet. Robot is controlled by an infrared remote. The PIC software generates ten PWM signals to control the ten servos. See my blog at http://robosynth.blogspot.com
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