There are several choices when considering how to create a mobile robot. One of the more interesting choices is a robot that can walk. This normally comes in three versions: a biped robot with two legs, a biped robot with four legs, and a hexapod robot with six legs. While each offers an interesting and different set of possibilities, in this chapter, you'll build a basic, 10 DOF biped.
You'll be using a total of 10 servos for your project, as each leg has 5 points that can move, or 5 degrees of freedom (DOF). As servos are the most critical component of this project, it is perhaps useful to go through a tutorial on servos and learn how to control them.
