Subject:
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Re: Walkers
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 9 Feb 2001 18:40:51 GMT
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Viewed:
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382 times
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In lugnet.robotics, Gordon Bentley writes:
> Hi all.
>
> Has anyone here managed to build a "real" 2-leg walker. What I mean by
> "real" is one that doesn't rely on a dragging tail, or sittnig on it's ass
> to walk, but actually transfers it's weight to one foot and takes a step
> with the other, then vice-versa.
>
> If so, any links.
>
> Thanks
> Gordon
I built two which move the RCX around to provide balance. One used a rack,
the other a pivot (the pivot looked cool, the RCX swinging back and forth
looking like the head of some prehistoric monster searching for prey).
Mechanically they were OK, but I found the control algorithm unsatisfying.
I controlled the position of the RCX and coordinated this with the motion of
the legs to provide the appropriate balance. I tried feedback control using
a tilt sensor (rotation sensor and pendulum) but was not successful. Has
anyone done this?
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Message is in Reply To:
 | | Walkers
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| Hi all. Has anyone here managed to build a "real" 2-leg walker. What I mean by "real" is one that doesn't rely on a dragging tail, or sittnig on it's ass to walk, but actually transfers it's weight to one foot and takes a step with the other, then (...) (23 years ago, 9-Feb-01, to lugnet.robotics)
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