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 19:06:05 GMT
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Viewed:
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8744 times
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In lugnet.technic, Steve Hassenplug wrote:
> 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.
Actualy we need to sense when it is *up*.
>
> 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?
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 be sufficient to see that they are
telling the feet to lift. You might need two touch sensors wire-ORed together
(one for each leg group).
>
> 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)
I think so too.
>
> > > So, SSClagorpion will walk forward & backward, turn right & left,
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> 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 1 Reply:
 | | Re: SSClagorpion
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| (...) Is *up* the same as "not down"? I was thinking it was, but that may not be the case. (...) This sounds like we can NOT do the table edge detection stuff, using it's feet. Imagine you're crawling around on your hands and knees, with your eyes (...) (20 years ago, 19-Apr-04, to lugnet.technic)
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Message is in Reply To:
| | Re: SSClagorpion
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| (...) 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 (...) (20 years ago, 19-Apr-04, to lugnet.technic)
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