Newsgroups: comp.robotics
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From: damico@bronze.ucs.indiana.edu (bill d'Amico)
Subject: Re: Stiquito (where?)
Message-ID: <ByA507.LF3@usenet.ucs.indiana.edu>
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Organization: Indiana University
References: <1992Nov25.131442.4036@cimage.com>
Date: Wed, 25 Nov 1992 16:12:06 GMT
Lines: 117

In article <1992Nov25.131442.4036@cimage.com> tgamble@cimage.com (Rick Campbell /10000) writes:
> 
>A couple of weeks ago someone posted an article on where to get Stiquito kits
>and obtain information on the robot. It was a Computer Science Dept. somewhere.
>Could someone respond with that information. I would greatly appreciate it.
>
>RC
>-- 
> Rick Campbell  
> Internet: gamble@cimage.com
>     -or-: emunix.emich.edu!rc3502
>

IUCS Technical Report 363a, "Stiquito:  A Small, Simple, 
Inexpensive Hexapod Robot -- Part 1.  Locomotion and Hard-Wired 
Control" contains detailed instructions to build the robot and a 
hard-wired, manually-operated controller.  The instructions are 
illustrated with 80 life-sized figures that include dimensions and 
enlarged details.  Materials, tools, and vendors are listed. 
Special sections include construction skills for novice users, how 
to fix mistakes, and troubleshooting problems found in real-world 
experience with the robot.

Stiquito and its manual controller are assembled by crimping and 
press-fitting parts.  No soldering is necessary.  The resulting 
robot is very reliable.  A tethered Stiquito walked for over 100 
hours. During the test each leg made 300,000+ 2-3mm strokes. The 
leg movement was reduced because power was supplied during the 
test by a 6v AC/DC adapter.  With a 6v "J" battery typical leg 
movement is 3-7mm. Battery-powered leg movement was unchanged 
after the test.

Anyone may build and use Stiquitos in any quantity for educational 
or research purposes, but Indiana University reserves all rights 
to commercial applications.  Part 1 of the technical report is now 
available and can be obtained in two ways:

1. ELECTRONICALLY
-----------------

    Use anonymous ftp to obtain the technical report free.  IU's
    ftp site is:

         cs.indiana.edu

    Log in as "anonymous" with username@host or "guest" as a
    password.

    The report will be in one or the other of two directories:

         pub/
         pub/techreports

    The report is available in two formats:

         stiquito.tar (PostScript)
         stiquito.hqx (stuffed, binhexed Microsoft Word 4 for Mac)

    Unfortunately, some of the illustrations in the PostScript
    file print with minor errors (patterns missing, and some
    polygons deformed), but they are still understandable.



2. BY MAIL (with options for a kit and a videotape)
---------------------------------------------------

     Send your request for the report with payment to:

         Computer Science Department
         215 Lindley Hall
         Indiana University
         Bloomington, Indiana, 47405

     To receive the technical report only send $5 US PRE-PAID and
     add the following line to the address:

         ATTN: TR 363a

     To receive the technical report and a kit containing all
     materials needed to construct Stiquito and its manual
     controller send $15 US PRE-PAID.  Add the following line to
     the address:

         ATTN: TR 363a Stiquito Kit

     The kit alone is available for $10 US PRE-PAID. Add the
     following line to the address:

         ATTN: Stiquito Kit

     The charges cover materials, a kitting fee, the technical
     report, and mailing.   The kit is provided as a non-profit
     service by Indiana University.  The author receives no fee or
     reimbursement from the sale of the kit.

     The CS department has also videotaped the assembly of a
     Stiquito (including the author making some mildly 
     embarrassing mistakes during construction! :-).  It is
     available separately for an additional $10 US PRE-PAID.
     Just add VIDEO to the attention line.

     For example, if you purchased the TR, kit, and video then
     $25 US would be enclosed and the following line would be
     added to the address:

         ATTN: TR 363a Stiquito Kit VIDEO




Part 2 of the technical report, "Sensors and Controllers," is in
preparation. 

--
bill d'Amico                  | The highest that a man can attain is to 
damico@bronze.ucs.indiana.edu | be able to do  - Georg Gurdjieff
