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 17:36:28 GMT
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Original-From:
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Daniel Miller <danielmi@expert.cc.purdue.SAYNOTOSPAMedu>
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Viewed:
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1166 times
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On Sat, 5 Dec 1998, Peter Hesketh wrote:
> > 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?
>
> 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.
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 and timing. With Lego, however, rigidity would be a
real problem, and a mechanism for this would have to be arranged. Not
impossible, but much less easy... but remember, this isn't just Technic,
this is Lego. There are plenty of arch pieces in System that could help
tremendously with this.
Here's another question about legs... has anyone tried mammal-style legs?
It would probably take at least three RCXs for a full quadraped, (I figure
one motor for the knee and one for the hip, but the hip motor might be
made to work both sides) but it would be a joy to watch it work.
Daniel "Dan'l" Miller Senior, School of Aeronautics and
danielmi@expert.cc.purdue.edu Astronautics, Purdue, Indiana
danielmi@cartoon.ecn.purdue.edu
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Message is in Reply To:
 | | Re: LEGO Hexapod Walker
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| In article <Pine.GSO.3.96.98120...52.23795A- 100000@expert.cc.purdue.edu>, Daniel Miller <danielmi@expert.cc.purdue.e du> writes (...) 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 (...) (26 years ago, 5-Dec-98, to lugnet.robotics)
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