Subject:
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Re: Curved Feet
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 23 Mar 2001 03:16:05 GMT
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Viewed:
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720 times
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Andy,
I think the curved foot concept is the wrong direction for a two-legged
mechanism. The few simple two-legged mechanisms I have seen rely on two
feet, each with a VERY large footprint. Each footprint is large enough to
support the weight of the total mechanism on its own. Each leg is moved up
and over a short distance, not far enough to make the unit lose balance.
Unfortunately, there is a HUGE technology gap between these toys and true
bipedal articulation. The reason is that intelligent systems must control
the axes of each joint, but also in tandem with the state of it's partner
joint on the other leg. The simplest bipedal leg requires at least 4 joints
(toe, heel, knee, hip), each at least biaxial due to the fact that each
joint must manage the side to side balance. You would have to gang motors,
sensors, and even RCX's to get this to work.
Please let me know when you accomplish this, as it would be MOST cool!
- Sean
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Message has 2 Replies:
 | | Re: Curved Feet
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| /nitpick on/ (...) Technically, you can't move your knee joint laterally. As for lateral toe movement - it's so small as to be trivial. /nitpick off/ Matthias Jetleb VA3-MWJ (24 years ago, 23-Mar-01, to lugnet.robotics)
| | | Re: Curved Feet
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| Well, if you read the page, you will find that they did papers on this principle. Try looking one directory back. Anyway, in the paper A 3-D passive-dynamic walking robot with two legs and knees, they described how they built the robot. Since thier (...) (24 years ago, 23-Mar-01, to lugnet.robotics)
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Message is in Reply To:
| | Curved Feet
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| Hi, Skip to the bottom for the question :) I am getting back into building robots now, and decided I wanted to build a 2 legged walker. I looked at the various Lego solutions, and realized that none used pneumatics. That began my quest to build a (...) (24 years ago, 23-Mar-01, to lugnet.robotics)
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