This was my first walking robot.

(Image courtesy of Jeff Sampson of the Twin Cities Robotics Group ).

The blue box contains the Scott Edwards Serial Servo Controller (R) card.
The PalmIII is running PocketC (R) compiler which allows programs to be written as Memos then compiled.

This version of my Palm Robot Control Program allows specification of turn angle and number of steps to take.
A later version has other parameters set the stride angle, servo slew time, turn coupling (negative for normal turns, positive for crab-walking).

This robot has been superceded by the "QuadraTwist".

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