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 13:55:28 GMT
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Viewed:
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1138 times
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In lugnet.build.mecha, Brian Cooper wrote:
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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.
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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 this before.
I’m really into making walkers and am always interested in seeing other’s works.
Have you captured any of your experiments on a web page? I’d love to peek if
you do.
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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!
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Again, this depends on the amount of vertical rise in the gait. My most recent
quad (so far my only) had to have big feet to avoid the balance triangle you
mention. With small feet and high stepping it fell to the triangle, it didn’t
fall over, and it would tip itself back to all four feet down, but I felt it
lost its balance.
I’ve made a lot of successful bipeds, and don’t consider ones that drag the feet
on the ground “successful walkers”. Maybe my expectations are too high, or
mapped inapropriately from biped to quad.
I use my creative juices to expand my abilities at articulated walkers (recently
mostly using only pneumatics). I’m in the middle of a development cycle for a
pneumatic hexapod. So far it can walk forward, just to prove to myself that a
hexagonal body was viable for walking.
I agree though, I can hardly wait to see Eric’s creatures be more articulated.
I want to develop skills to bring out my abilities at putting stylistic skins
over my creations. Eric and I are talking about combining efforts to merge his
obviously highly developed artistic and mechanical skills with my skills at
designing walkers (especially pneumatic ones), to see what the colaboration
brings. I’m sure I’ll learn a ton of stuff from this effort.
Kevin
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Message has 1 Reply:
 | | Re: New Mecha - The Klymyth
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| (...) Gait matrix is an old Robotics 101 term. It is representation of the temporal sequence of leg motions that a robot needs to walk without falling over. It gives the legs their coherent propulsive movement. Any autonomous walker needs to have (...) (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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| (...) 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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