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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Sat, 10 Feb 2001 15:03:04 GMT
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Original-From:
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Harley Myler <h.myler@{nomorespam}myler.org>
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Viewed:
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511 times
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At 5:37 PM -0600 2/9/01, Steve Baker wrote:
> Harley Myler wrote:
>
> > What you really want to ask here is "Has anyone built a 2-legged walker with balance?".
> > I would say it is unlikely that one has been built, but certainly not impossible.
> > For a balancing mechanism you need position sensing, which could be done with a
> > rotary (distance) counter and a pendulum.
>
> I tried that in my attempts to build a two wheeled robot (as in a bicycle)...but
> the problem with rotation sensors (as has been discussed *extensively* before)
> is that it drops or gains counts sometimes when it's being rotated slowly.
My post was to clarify the walker question, the suggestion of using the position sensor was just that.
> That means that you really have gear up the pendulum's output in order to
> spin the rotation sensor quickly - and that gearing slows the swing of the
> pendulum to the point of uselessness...unless it's VERY heavy.
>
> I had better luck with a two-coloured pendulum and a light sensor...but
> there were many other problems - and I never did get it to work.
The walker problem is not trivial, as you've discovered.
> Incidentally, the way most bipeds walk is by leaning forwards so their
> Center of gravity is ahead of their feet - and then sticking out a foot
> to prevent themselves from falling. It follows that balancing the robot
> may not be the best strategy here.
>
> --
> Steve Baker HomeEmail: <sjbaker1@airmail.net>
That is a correct observation, but no one wants a walker that can't stop and smell the roses--for that you need balance.
Harley Myler
http://macmyler.engr.ucf.edu
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Message has 2 Replies:
 | | Re: Walkers
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| Thanks for the feedback people. I asked the question because I have been working on a walker for around 6 weeks, and was getting a bit discouraged. I have since had some success on the weekend. My walker will now go through it's complete walking (...) (23 years ago, 12-Feb-01, to lugnet.robotics)
| | | Re: Walkers
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| I don't know much about mechanics or walkers, but what about a gyro device that's more stable than a rotational sensor. Surely someone out there would know how to use one of these to "balance" a walker. Of course this means powering the gyro to spin (...) (23 years ago, 13-Feb-01, to lugnet.robotics)
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Message is in Reply To:
| | Re: Walkers
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| (...) I tried that in my attempts to build a two wheeled robot (as in a bicycle)...but the problem with rotation sensors (as has been discussed *extensively* before) is that it drops or gains counts sometimes when it's being rotated slowly. That (...) (23 years ago, 9-Feb-01, to lugnet.robotics)
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