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 21:12:54 GMT
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Viewed:
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1442 times
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In lugnet.build.mecha, Kevin L. Clague wrote:
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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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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 this matrix encoded into it somehow (including living ones), otherwise
it is just flailing legs around randomly, going nowhere.
My RCX robots have been wheeled because walkers tend to be limited in behavior
to mostly walking, since that eats up the sensors and power outputs. Wheeled
bots can have interesting behavior like my “Infradreadnaughts”(sic).
http://hometown.aol.com/Klaupacius/RCX/InfraDreadnaughts.html
My four legged walkers were pre-RCX and used an enhanced version of the old
reciprocating leg technique, with the added features of moving knees and ankles
driven by additional linkages. They had a very natural movement. I have no
pictures, however. The gait matrix was encoded in the gearing linking all the
legs together, driven by one motor (with a ton of gear reduction for torque).
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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.
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Eric seems to stop building RCX control into his robots when he gets to the
legs. Or he just stops building the robots at the torso! ;-) But he has the
parts now for a walker. It’s just a question of the leg technology, and keeping
the robot lightweight enough to move even with a stylish mecha skin.
K
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Message is in Reply To:
 | | 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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