Project Information

Tachikoma Prototype I, II and III

Tachikoma inspired robot, quadropod with wheels at the end of each leg. Currently at its second iteration.
Created by CasperH | Forum Thread Link | External Link
3 months
1-5 pounds
50 x 40 x 40 [cm]
5-15 minutes
Powersource: NiCAD / NiMH

6.0 Volt Ni-MH 2800mAh Battery Pack from lynxmotion

9 V battery for logic.

Locomotion: Quadropod

Walking (cat creep gait) and driving with 4 driven wheels which can all be steered.

Controller/CPU: Arduino Duemilanove


2 x IR distance sensor (3cm-40cm) - Sharp GP2D120XJ00F
1 x Ultrasonic Range Finder - XL-Maxsonar EZ1


4 x HS-645MG HiTEC
8 x HS-311 HiTEC
4 x Parallax (Futaba) Continuous Rotation Servo


Prototype I

- Determining leg DOFs and right combination.
- Getting an Arduino to work with servos.

Prototype II

- 4 legs, 4 wheels, 3 DOF legs with 2 DOFs meant for walking and 1 DOF for steering and actuator for wheels.
- Use distance sensors to steer away from walls.
- Implementing the walk pattern.
- Power robot with lab power supply or battery (easily switch able).
- Combining the ssc-32 with the Arduino.
- Diagram for initial autonomous behavior.

Tachikoma Prototype II walk pattern.

Tachikoma Prototype II driving.

Prototype III

- 3D printed body to resemble Tachikoma.
- Proper mounting for distance sensors, adding one more to watch the front for reducing velocity.
- Mechanically improve steering, locate wheel center underneath steering servo.
- Optimize autonomous driving and walking behavior.
- Sound with WAV shield, already collected audio samples from GITS episodes (Japanese). Having some trouble with Arduino memory restraints.