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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Sat, 5 Dec 1998 09:24:58 GMT
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Original-From:
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Peter Hesketh <PBH@PHESK.DEMON.spamcakeCO.UK>
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Viewed:
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1160 times
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In article <Pine.GSO.3.96.981203180652.23795A-
100000@expert.cc.purdue.edu>, Daniel Miller <danielmi@expert.cc.purdue.e
du> writes
> 1. I can see how it can walk straight forward and turn in place, but what
> happens if you try to make it walk in a circle? One side would have to
> run slower than the other. What happens to the gait if the sides get out
> of sync?
If it had only 6 legs and got out of synch there would be a time when
only one leg each side was touching the floor and it would overbalance.
As it has 8, there are always two legs touching the floor on each side,
so the sides don't have to be in synch.
>
> 2. If you had a fast enough motor and a resilient enough system, could
> this be made to skitter? Or do you need more leg joints for that? I have
> a vision of something like this (non-Lego) on an offroad R/C car chassis,
> with R/C car motors and batteries, and a buggy body... heheheh, get it?
> Buggy?
:-)
Because of the simple mechanism the locus of each foot is a circle, and
so the body goes up and down with each step; to move the bug quickly and
smoothly you would need to change the motion from a circle to a D shape
(with the flat part facing down). You would also want the semicircular
part of the locus to be completed in 50% of the cycle time otherwise it
would still bounce up and down. That would be difficult if not
impossible with a linkage.
--
Regards - Peter Hesketh, Mynyddbach, Mon.
Forty reasons why a dog is better than a woman: number 10
"Dogs are excited by rough play."
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Message has 1 Reply:
 | | Re: LEGO Hexapod Walker
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| (...) With the music-wire legs of the original example, it would be possible to just put a stop in the way of the leg's downward travel, so for the bottom half of the circle the stop is bending the "thigh" upwards, resulting in the correct D-shape (...) (26 years ago, 5-Dec-98, to lugnet.robotics)
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Message is in Reply To:
| | Re: LEGO Hexapod Walker
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| (...) This is a cool little beastie, but the slop in Lego gears might do it in if it were enlarged for our consumption. Two (possibly stupid) questions: 1. I can see how it can walk straight forward and turn in place, but what happens if you try to (...) (26 years ago, 3-Dec-98, to lugnet.robotics)
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