I originally was working on making a larger version of my MAX biped robot. I had it all assembled and was working on the walking gait and realized after several attempts that it was too tall and the center of gravity was not correct. Everytime no matter what kind of walking gait I would design it would walk for a short distance and then some uneveness in the carpet would cause it to fall over. The only thing that I could of done to correct this was to either make larger feet or shorten the legs for a lower center of gravity. I was not willing to shorten the legs as the design works really well. I did some calculations for the feet and the feet would of been so large that the bot would of looked like a clown with those funny shoes on.
Every so often I will go to our local pawn shop and see what they have, it is like a flea market there in a way as they have been in business for over 30 years and have just about anything you can think of. I saw a bin with some old radar detectors in it and saw a couple of these Uniden Laser 3 Band LRD-1900. I really like the contour of the case I thougnt maybe I can get the Arduino with sensor shield and everything else in it. I bought 3 of them for $15 after doing some negotiating.
After removing the electronics and doing some cutting,grinding, sanding and making a few parts I had just enough room to fit the Arduino Nano with Sensor shield, Ping Sensor, 2-3.7v 1200 Mah batteries and switch along with all the cables for the servos.
I had the code already done for what was going to be MAX V2 and used it and the bot took off walking and detecting obsticles right away.
I added a servo between its legs that controls the pan of the body left to right.
Currently it has two walking gaits that it uses based on conditions.
60 to 40 CM is uses a normal walk gait.
40 to 30 CM is uses a strolling type walk.
30 CM it looks right to left to find the direction with the greatest distance and then turns to that direction and walks.