Subject:
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Re: Steerable Walker
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Newsgroups:
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lugnet.technic
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Date:
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Fri, 7 Nov 2003 19:36:01 GMT
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Viewed:
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2643 times
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In lugnet.technic, David Wegmuller wrote:
> In lugnet.technic, Tobbe Arnesson wrote:
> > In lugnet.technic, David Wegmuller wrote:
> > > Hi,
> > > Here is one more small walker:
> > Cool!
> >
> > How few legs does a tank-steer walker need? I built one with eight previously
> > but six should be doable. Now it needs to be done minimalistic. Hm...
>
> Hi Tobbe,
> I think four legs would be enough: build it so the legs on a given side are 180
> degrees out of phase.
> To turn, run only one side with the other side stopped so both legs are touching
> the ground.
> Driving in a strait line can be achieved in two ways: synchronize the two sides,
> so they are 90 degrees out of phase or drive each side alernatively for one
> turn...
> Now we have to build it to find out! I guess that what rainy weekends were
> invented for...
>
> Greetings,
> David
I have been working on pneumatic designs for a quad walker, where it always has
2 feet on the ground, and the transition between pairs of feet has four feet on
the ground. This prevents vertical lurching associated with 180 phase
quadraped.
I've been struggling a bit with all the pneumatic designs, but I think I can do
it in 10 pistons using my self synchronizing pneumatic designs mechanism.
Once I get that part working getting it to walk backwards, and turn right/left
in place will be straight forward using pneumatic multiplexers (like the ones I
made to make my first reversible pneumatic engine.)
I've also got paper designs for a quad with three of four feet always on the
ground, a five sided walker with four feet always on the ground, and a hexapod
with 5 of six always on the ground. These will take a *long* time to get to,
but they are looking do-able.
All pneumatics, no RCX controlling switches.... walkers are great!
Kevin
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Message has 1 Reply:
 | | Re: Steerable Walker
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| (...) Or in my case, living in Minnesota, it is what all of Winter is for. I like the alternate turns idea, because that way you also have 2/4/2/4 and avoid the gravity well, and vertical lurching. If you created a vertical launch mechanism used by (...) (21 years ago, 7-Nov-03, to lugnet.technic)
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Message is in Reply To:
| | Re: Steerable Walker
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| (...) Hi Tobbe, I think four legs would be enough: build it so the legs on a given side are 180 degrees out of phase. To turn, run only one side with the other side stopped so both legs are touching the ground. Driving in a strait line can be (...) (21 years ago, 7-Nov-03, to lugnet.technic)
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