Subject:
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Re: New Mecha - The Klymyth
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Newsgroups:
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lugnet.build.mecha
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Date:
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Wed, 24 Mar 2004 22:48:22 GMT
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Viewed:
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1049 times
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In lugnet.build.mecha, Brian Cooper wrote:
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Hey, why are you making quadrupeds that can’t actually walk. That’s too easy!
It’s time you made a motorized four legged walker. Quadrupeds are inherently
stable and don’t require dynamic control other than gearing, but with an RCX
it could do tricks, attacking things it bumps into with a motorized mouth,
etc. Think of how that would go over at the Lego store. And you clearly are
pining for a robo pet judging by your recent creations. ;-)
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ahhhhem.
Quadrapeds are only inherently stable if the feet are big enough. If you break
the four legs into two leg groups, worst case scenario is two feet on the
ground. You’d better makes sure the center of gravity is within the diagonal
footprint created by these two feet (including before, during and after they
stride).
Hexapods are inherently stable, if you break the six feet up into two groups of
three.
If you plan on motorizing each leg, then you can at least always have three feet
on the ground. But still your COG is still going to be dancing on the diagonal
between down front foot and down opposite back foot. Hopefully head and tail
swaying will keep the COG within the footprint of three feet.
You can also pull off some magic using a single motor and three differentials.
Similar to http://www.kclague.net/FastForward/index.htm, except expanded for
four feet instead of two. Never tried it but it might be fun.
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That’s a cool looking head canopy, very zoidian.
K
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Kevin
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Message has 1 Reply:
 | | Re: New Mecha - The Klymyth
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| (...) It depends on what you mean by inherently stable. In a mathematical world of pinpoint feet, the two feet on the ground might not be stable, but a Lego four legged walker probably wouldn't keel over while following a gait matrix. In the worst (...) (21 years ago, 25-Mar-04, to lugnet.build.mecha, FTX)
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Message is in Reply To:
| | Re: New Mecha - The Klymyth
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| Hey, why are you making quadrupeds that can't actually walk. That's too easy! It's time you made a motorized four legged walker. Quadrupeds are inherently stable and don't require dynamic control other than gearing, but with an RCX it could do (...) (21 years ago, 24-Mar-04, to lugnet.build.mecha, FTX)
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