Walking Robot (Terrapin 1).
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The University of Maryland's entry to the walking robot competition is composed of three parts: body, leg, and control. The body is a tripod design in which one of the two sets of three legs is always on the ground. Each leg is mounted at the corner of one of two triangles which are stacked and able to rotate one relative to the other. The legs are modelled after a pantograph and are driven by "acme" screws in both the horizontal and vertical directions. The robot is controlled by a system that employs both integrated circuits with pulse-width modulation and "class-b" transistors, amplifiers, and relays.