Subject:
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Re: SSClagorpion
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Newsgroups:
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lugnet.technic
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Date:
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Mon, 19 Apr 2004 16:58:41 GMT
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Viewed:
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8591 times
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In lugnet.technic, Kevin L. Clague wrote:
> In lugnet.technic, Steve Hassenplug wrote:
> > Ok, so what's required for walking sideways?
> > I just happened to think, the legs should be in a known position when switching
> > from forward/back to side-to-side.
> >
> > Do the legs need to be in a know position when switching from forward to
> > backward? Or walking to turning? If so, we need sensors for that...
>
> Yes. Changing the forward/backward/turning muxes needs to be done when the feet
> are in the air. Observing any one foot is probably sufficient.
>
> The above costs us four motors, and one sensor.
Ok, we [plan to] have a sensor on the front foot, and can detect when that is
down. So, no more sensors are required.
So you said, the forward/backward must be changed while the feet are in the air.
We've been thinking of having a touch sensor on the front feet, so it can detect
when it goes off an edge (like a table). However, it would not know the surface
is not there, until it trys to put the foot down. So, all the feet would be
down, and it needs to backup. Can it do that? Or will it need to keep walking
a bit?
Overall, I THINK that just adds one motor to my previous list:
1) Activate (move!)
2) Direction (forward/back, turn right/left, slide right/left)
3a) Function 1 (walk or turn)
3b) Function 2 (function 1 or slide)
> > So, SSClagorpion will walk forward & backward, turn right & left,
step right & left
> > open & close
> > two claws, and move it's tail. It can stay on a table/stage, detect when it
> > bumps into something (going forward), follow the "controller" or be driven
> > around like an RC car.
> >
> > Is that enough cool functionality?
Steve
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Message has 3 Replies:
 | | Re: SSClagorpion
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| (...) Actualy we need to sense when it is *up*. (...) As soon as you figure out that a foot is up, you can reverse directions. I'll have to study the state sequence, because there are two non-weight bearing pistons that control the feet, so it might (...) (20 years ago, 19-Apr-04, to lugnet.technic)
| | | Re: SSClagorpion - robotic update
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| The latest robotic update: As it stands now, SSClagorpion will: 1) Move: (one of these at a time) A) Walk forward & backward, B) Turn right & left C) Step right & left (move sideways) D) Stop 2) Open & close two claws on it's arms (via pneumatics) (...) (20 years ago, 21-Apr-04, to lugnet.technic)
| | | Re: SSClagorpion
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| (...) Hey that is interesting. How would the robot actually behave in this circumstance? We'll have to build it and teach it and build as necc. e (...) (20 years ago, 21-Apr-04, to lugnet.technic)
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Message is in Reply To:
| | Re: SSClagorpion
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| (...) It is my belief that sideways walking will require a third degree of articulation in the leg/hip structure. It will cause the legs to swing towards and away from the body. By replacing the forward/backward part of the leg sweep with the side (...) (20 years ago, 19-Apr-04, to lugnet.technic)
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