Subject:
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Re: LEGO Hexapod Walker
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 4 Dec 1998 09:33:12 GMT
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Original-From:
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Janet and Carl McIver <jncmcivr@gte.[stopspam]net>
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Viewed:
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2801 times
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I came across a program some time ago that demonstrates the three gaits
available from six legs, one of them is the gait you are talking about,
called a tripod gait. It is popular because it only requires three servos,
one for each side and one for the center legs. If anyone wants, I can send
it to them, although it can only run from DOS, not a window. I have UNIX
and other versions, I think, I will have to check sometime. Very
interesting program!
-----Original Message-----
From: Jason Cooper <robotman@slip.net>
To: 'lego-robotics@crynwr.com' <lego-robotics@crynwr.com>
Date: Thursday, December 03, 1998 12:53 PM
Subject: RE: LEGO Hexapod Walker
Fredrik,
Yes,
You're analysis of how the triple gait cycle is right on! I'll add some
additional description to the page to clear all that stuff up. Good luck on
your 8 legged beast! It is much more complex to get both fwd/bwd, up/down
motion on each leg (the Megahexapod that we sell is proof that it can be
done)
Jason Cooper - robotman@slip.net
Mondo-tronics' Robot Store
http://www.RobotStore.com
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From: Fredrik Glöckner
Sent: Thursday, December 03, 1998 2:28 AM
To: lego-robotics@crynwr.com
Subject: Re: LEGO Hexapod Walker
lego-robotics@crynwr.com (Jason Cooper) writes:
> http://www.robotstore.com/lego_hexapod_frame.html
Let's see... I find it slightly difficult to understand how it works,
but it seems like the centre legs only tilt up/down, and the front/rear
legs only move back/forward. Furthermore, the front/rear legs on the
left side move independently of those on the right side, but the front
left leg and rear left leg always move simultaneously, since they are
connected with a shaft. Is this correct?
The design looks very simple and efficient. It gave me a few ideas
indeed. Thanks!
So there are a total of three degrees of freedom, and a similar vehicle
may very well be made on the basis of CyberMaster or Mindstorms, but
maybe not that compact and light.
I'm working on an eight legged CyberMaster walker right now, but my
design will have (if it is finished...) legs that move both up/down and
forward/backward. This requires a much more complicated design, so I
may dump it for some time to try the triple gait cycle design in stead.
Fredrik
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Message has 1 Reply:
 | | Re: LEGO Hexapod Walker
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| (...) It's very a interesting piece of software! :-) I'm only in doubt about one detail. Wich of those movements mimics the movement of insects? (1 or 2?) Laurentino Martins [lau@mail.telepac.pt] [(URL) (26 years ago, 4-Dec-98, to lugnet.robotics)
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