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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Thu, 25 Mar 2004 00:19:03 GMT
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Viewed:
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1026 times
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In lugnet.build.mecha, Kevin L. Clague wrote:
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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).
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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 case it would just revert into a tripod, though slightly tipped and keep
trudging along. (At least that’s how my designs behaved.) It’s possible to
design in a CG that would make it roll over, but the machine probably wouldn’t
look like a doggie, and that wouldn’t make eric happy!
K
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Message has 1 Reply:
 | | Re: New Mecha - The Klymyth
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| (...) I understand what you are saying. I think this depends on the vertical range of the gait. The higher rise of the feet, the more the quad tips when using three feet to balance. Could you please educate me about "gait matrix"? I've not heard of (...) (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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| (...) 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 (...) (21 years ago, 24-Mar-04, to lugnet.build.mecha, FTX)
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