Tank

Tank uses 5 micro servos for the legs and the head. It has 5 tactile sensors including 3 "panic sensors" (as I call it). The panic sensor is used, to stop the head from seeking a light (as well as head damage) and backs-up immediately to get out in a stuck situation when bumped into a leg of a chair or table. Those panic switches are located on its head and the 2 shoulders. The left and right long tactiles are for obstacle avoidance. Tank is actually a modified version or enhanced version of the unique ScoutWalker 2.2 and some ideas from Unibug 2.0 and Strider (of Mark Tilden). But Tank uses a bicore head with left and right limit switches.