Subject:
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Re: an idea, can someone tell me if this is possible/been donebefore/etc?
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Newsgroups:
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lugnet.robotics
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Date:
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Tue, 2 Dec 2003 21:49:09 GMT
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Viewed:
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2745 times
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In lugnet.robotics, "Rob Limbaugh" <RLimbaugh@greenfieldgroup.com> wrote:
>
>
>
> <SNIP>
>
> > With regard to obstacle detection for legs, I was playing
> > around with various ways of measuring the increased torque a
> > motor puts out in a stalled condition. I was thinking of a
> > spring (ie rubber band) loaded co-axial ratchet/cam that
> > would hit a switch to tell the robot the leg was blocked and
> > it needed to be put down now. That way it would work
> > irrespective of the direction of translation (things can
> > block the leg both ways).
>
> Look up Tri-Star Wheel. Instead of driving wheels, drive gears that
> move legs (or pneumatic pumps).
Doug Carlson has working examples:
http://www.visi.com/~dc/
>
> Remember that a Tri-Star Wheel uses a differential. When the input
> shaft is turned, it spins the body of the differential which turns the
> individual wheels in the Tri-Star configuration. When a wheel hits an
> obstacle, it stops the differential body from rotating so the output
> shaft begins to rotate which spins the entire Tri-Star wheel.
>
> If the differential body was connected to the drive train that swings
> the leg forward/backward and the output shaft was connected to the
> lift/lower drive train, then when the leg stalls (forward/backward) the
> system would engage the lift/lower drive train.
>
> Hopefully that made sense...
I understand it.
>
> - Rob
Kevin
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