Designed by the Big One, Stubby started out as a simple 2DOF version, although it quickly morphed into a 3DOF iteration with a full inverse kinematics engine.
“What sets it apart from other hexapods is that it a) is controlled controlled by a single AVR chip (ATMega 1284), including movement and PWM,” The Big One explained in a recent HackADay project page.
“[It] is [also] designed in such a way that it can be driven by very cheap, micro servos (I am currently using $2, 9 gram servos). [Plus, Stubby] has a wooden (MDF) frame cut on a scroll saw [and] is designed with budget in mind; you can make one for around $150 worth of supplies and minimal simple tools.”
The completed project features three 9g servos per leg, all controlled with an AVR-based custom board and an XBee interface to an old Playstation controller.
“You can move in any direction on the XY axis, translate the body on the XYZ axis and roll the body on the XYZ axis,” the BigOne added.