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I uploaded some pictures of PhD 2, that some of you saw at BrickFest 2004.
PhD2 is a neat and tidy version of its predecessor Hex-363.
PhD2 can adjust the sweep direction of each of its legs, allowing to walk any of
six directions (forward, forward right, forward left, backward, backward right,
backward left), and can turn right and left. It can even walk forward/reverse
with one triple leg group, and turn with the other triple leg group. PhD2 can
also walk in place.
It has no gravity well, meaning that in general the body does not move up and
down as it walks. It does this by making sure that all legs are on the ground
before lifting any.
This is my most expensive MOCs so far. It has 12 switches and two pistons per
leg. Plus a few more pistons/switches for timing control.
Enjoy!
http://www.brickshelf.com/gallery/kclague/PhD2
http://www.brickshelf.com/gallery/kclague/PhD2/p9090189.jpg
http://www.brickshelf.com/gallery/kclague/PhD2/p9090194.jpg
Kevin
(I posted this to annouce.moc, but forgot to post it here)
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That is awesome. Could you put a vid of it in action. I love the style
- it is functional, but equally stylish - the way you have arranged
the cabling makes it look really something. I can really imagine that
as a spider tank model looking rather fantastic.
Could you do a pneumatic logic diagram of it? There are so many
connections there - I am pretty bewildered after trying to follow what
went where - I imagine it is segmented, and with a couple of sections
- each leg is basically the same in relation to the previous leg (or
another leg depending on the gait set up).
Anyway - thoroughly amazed at it!
Danny
--
http://orionrobots.co.uk - Build Robots
On 5/1/05, Kevin L. Clague <kevin_clague@yahoo.com> wrote:
> I uploaded some pictures of PhD 2, that some of you saw at BrickFest 2004.
>
> PhD2 is a neat and tidy version of its predecessor Hex-363.
>
> PhD2 can adjust the sweep direction of each of its legs, allowing to walk any
> of
> six directions (forward, forward right, forward left, backward, backward
> right,
> backward left), and can turn right and left. It can even walk forward/reverse
> with one triple leg group, and turn with the other triple leg group. PhD2 can
> also walk in place.
>
> It has no gravity well, meaning that in general the body does not move up and
> down as it walks. It does this by making sure that all legs are on the ground
> before lifting any.
>
> This is my most expensive MOCs so far. It has 12 switches and two pistons per
> leg. Plus a few more pistons/switches for timing control.
>
> Enjoy!
>
> http://www.brickshelf.com/gallery/kclague/PhD2
> http://www.brickshelf.com/gallery/kclague/PhD2/p9090189.jpg
> http://www.brickshelf.com/gallery/kclague/PhD2/p9090194.jpg
>
> Kevin
>
> (I posted this to annouce.moc, but forgot to post it here)
>
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In lugnet.technic, danny staple <orionrobots@gmail.com> wrote:
>
> That is awesome. Could you put a vid of it in action. I love the style
> - it is functional, but equally stylish - the way you have arranged
> the cabling makes it look really something. I can really imagine that
> as a spider tank model looking rather fantastic.
>
> Could you do a pneumatic logic diagram of it? There are so many
> connections there - I am pretty bewildered after trying to follow what
> went where - I imagine it is segmented, and with a couple of sections
> - each leg is basically the same in relation to the previous leg (or
> another leg depending on the gait set up).
>
> Anyway - thoroughly amazed at it!
> Danny
Hi Danny,
Thanks for the feedback! Before I dig up a circuit diagram, I'll show you the
timing diagram for my original hexapod, hex363:
http://www.brickshelf.com/cgi-bin/gallery.cgi?i=698017
Hex363 can only walk forward, but has a hexagonal body. It gets its name
based on the sequence of the feet and when they touch the ground. Here is the
sequence:
A. Start with all six feet on the ground.
B. Lift three backward swept feet using large pistons B,C,D
C. Sweep the legs (grounded feet backward, up feet forward) using I,J,K,L,M,N
D. Place all feet on the ground using large pistons B,C,D
E. Lift three backwards swept feet using large pistons using pistons F,G,H
F. Sweep the legs (grounded feet backward, up feet forward) using I,J,K,L,M,N
G. Place all feet on the ground using F,G,H
H. Repeat
PhD2 uses the exact same method, except that it can reverse the sweep
direction of any given leg. Which allows leg groups (three legs per group) to
switch from walking to turning and back. With six legs, each with two possible
sweep directions, you can configure the legs in one of 64 possible combinations.
Unfortunatly with that much pneumatic hardware, there are reliability
problems, where pistons and or switches can leak a bit and stall the process.
It does work, but it is very slow.
Here is a discussion on how I do my pneumatic sequence designs.... Circuit 7
describes how I designed my pneumatic quadraped. It is easily extended to make
a hexapod or octopod walker.
Kevin
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<snip>
>
> Here is a discussion on how I do my pneumatic sequence designs.... Circuit 7
> describes how I designed my pneumatic quadraped. It is easily extended to make
> a hexapod or octopod walker.
Oops.... http://www.kclague.net/Sequencer/index.htm
>
> Kevin
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In lugnet.technic, Kevin L. Clague wrote:
> I uploaded some pictures of PhD 2, that some of you saw at BrickFest 2004.
>
> PhD2 is a neat and tidy version of its predecessor Hex-363.
>
> PhD2 can adjust the sweep direction of each of its legs, allowing to walk any of
> six directions (forward, forward right, forward left, backward, backward right,
> backward left), and can turn right and left. It can even walk forward/reverse
> with one triple leg group, and turn with the other triple leg group. PhD2 can
> also walk in place.
>
> It has no gravity well, meaning that in general the body does not move up and
> down as it walks. It does this by making sure that all legs are on the ground
> before lifting any.
>
> This is my most expensive MOCs so far. It has 12 switches and two pistons per
> leg. Plus a few more pistons/switches for timing control.
>
> Enjoy!
>
> http://www.brickshelf.com/gallery/kclague/PhD2
> http://www.brickshelf.com/gallery/kclague/PhD2/p9090189.jpg
> http://www.brickshelf.com/gallery/kclague/PhD2/p9090194.jpg
>
> Kevin
I'm going to ignore the ingenuity of the design and the wonderful concept (and
implementation) of a pneumatic-logic controlled walker and just comment that it
looks wonderful!
I wish I could see it operating in person, I'm sure it would be a great
spectacle.
Same goes for the compressor - extremely impressive example of (lego)air-power.
- David
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In lugnet.technic, David Arnon wrote:
> In lugnet.technic, Kevin L. Clague wrote:
> > I uploaded some pictures of PhD 2, that some of you saw at BrickFest 2004.
> >
> > PhD2 is a neat and tidy version of its predecessor Hex-363.
> >
> > PhD2 can adjust the sweep direction of each of its legs, allowing to walk any of
> > six directions (forward, forward right, forward left, backward, backward right,
> > backward left), and can turn right and left. It can even walk forward/reverse
> > with one triple leg group, and turn with the other triple leg group. PhD2 can
> > also walk in place.
> >
> > It has no gravity well, meaning that in general the body does not move up and
> > down as it walks. It does this by making sure that all legs are on the ground
> > before lifting any.
> >
> > This is my most expensive MOCs so far. It has 12 switches and two pistons per
> > leg. Plus a few more pistons/switches for timing control.
> >
> > Enjoy!
> >
> > http://www.brickshelf.com/gallery/kclague/PhD2
> > http://www.brickshelf.com/gallery/kclague/PhD2/p9090189.jpg
> > http://www.brickshelf.com/gallery/kclague/PhD2/p9090194.jpg
> >
> > Kevin
>
> I'm going to ignore the ingenuity of the design and the wonderful concept (and
> implementation) of a pneumatic-logic controlled walker and just comment that it
> looks wonderful!
Thanks David! You can see its rather unattractive predecessor here:
http://www.kclague.net/hex363/index.htm
One of the goals of the remakes I posted was to make them look more elegant, by
managing part colors, and hose routings more carefully.
>
> I wish I could see it operating in person, I'm sure it would be a great
> spectacle.
> Same goes for the compressor - extremely impressive example of (lego)air-power.
There are movies of Quad242 and Hex363 on my website:
www.kclague.net.
>
> - David
Kevin
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