CMU Artificial Intelligence Repository
Stiquito: Information about nitinol-propelled hexapod
Stiquito is a small (3cm H x 7cm W x 6cm L), simple (32 parts) and
inexpensive (< $30) nitinol-propelled hexapod robot developed at the
Indiana University (Bloomington) Robotics Laboratory. Its legs are
propelled by nitinol actuator wires. Each leg has one degree of freedom.
The robot walks up to 10 centimeters per minute and can carry a 9-volt
cell, a MOSIS "tiny chip" and power transistors to drive the nitinol
actuator wires. Nitinol wire (aka BioMetal, Flexinol), is a nickel-titanium
alloy which exerts useful force as it is heated by passing a current
through it. IUCS Technical Report 363a describes Stiquito's construction.
This directory contains that report and related materials.
A kit containing all the materials needed to construct a simple
version of Stiquito and its controller is available for an extra $10
from the address below (use attn line "Stiquito Kit"). To receive a
video showing the assembly of Stiquito, include an additional $10 and
add "Video" to the "Attn:" line.
The tech report is also available by US mail for $5
(checks or money orders should be made payable to
Copying: Anyone may build and use Stiquitos in any quantity for
educational or research purposes, but Indiana University
reserves all rights to commercial applications.
CD-ROM: Prime Time Freeware for AI, Issue 1-1
Mailing List: To join the Stiquito mailing list run by Jon Blow of
UC/Berkeley, send mail to firstname.lastname@example.org.
Author(s): Prof. Jonathan W. Mills
Contact: Computer Science Department
Attn: TR 363a
215 Lindley Hall
Bloomington, Indiana 47405
Authors!Mills, BioMetal, Flexinol, Hexapod Robots,
Indiana University, Nickel-Titanium, Nitinol, Robotics,
Last Web update on Mon Feb 13 10:28:10 1995