(1995)

Stappo was the first biped developed at the Delft Biped Laboratory. The prototype biped is the result of the master's graduation project of Richard van der Linde. It walks on a flat and horizontal surface. It is completely autonomous, and weighs only 2.5 kg (of which the batteries contribute 0.5kg). The propulsion is supplied by small solenoids, developing a push-off force 1.2 times the body weight. The push-off is a simple state-triggering of the frontal stance angle. A small gyroscope (blackbox picture 3) measures the frontal rate, which is integrated to the frontal angle.

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