Hannibal is a six-legged walking robot designed to maneuver across rough terrain. If it detects an object it can step over, it does.  Otherwise, it turns around and continues roaming. There is one bump switch on the "foot" of each leg to vary the Pulse Width Modulated signal sent to the servos to keep Hannibal stable.  A hacked Sharp infrared detector and a high output IR LED were placed on each of the front for obstacle avoidance and step detection.