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 12:56:40 GMT
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Original-From:
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Andy Gombos <gombos_2000@^antispam^yahoo.com>
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Viewed:
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542 times
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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 robot was totally *unpowered* except for gravity,
they had no moving joints except for legs, and shoulders. Everything moved
with string and a ramp. If I add actuators to the knees, and ad a balance bar
to the top, I should be able to build a small model. It may not be able to
support the RCX and compressor at first(or ever), but a little technology can
be a little better than no technology. Read the site, and you will see that it
will walk almost by itself.
Andy
Sean Harrington wrote:
> 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 is in Reply To:
 | | Re: Curved Feet
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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 (...) (24 years ago, 23-Mar-01, to lugnet.robotics)
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