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Raspberry Pi Cookbook for Python Programmers by Tim Cox

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Building a six-legged Pi-Bug robot

Controlling motors is very useful to create vehicle-like robots, but creating more naturally behaving robot components such as servos can provide excellent results. There are many creative designs of insect-like robots, or even biped designs (with humanoid-like legs), that use servos to provide natural joint movements. The design in this example uses three servos, but these principles and concepts can easily be applied to far more complex designs, to control legs/arms that use multiple servos. The Pi-Bug robot is shown in the following image:

Building a six-legged Pi-Bug robot

The six-legged Pi-Bug robot uses a servo driver to control three servos ...

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