Subject:
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Re: an idea, can someone tell me if this is possible/been done before/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 21:40:31 GMT
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Original-From:
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PeterBalch <peterbalch@compuserve.IHATESPAMcom>
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Viewed:
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1029 times
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> Plenty of people have build eight legged walkers - that's not all that • hard.
> why not
> take the approach of the original; pullies, gears, differentials, gear
> trains, etc.
> (I'll leave the issue of a clutch/break for turning as an
> exercise in gear trains).
> Realistically, this would be very difficult.
About 15 years ago - in the days before RCX - I built a 6-legged walker
that used "ackerman" steering on the front legs. Power to the front legs
went through the kingpins. (I think "kingpin" is called something different
in US English - I mean the shaft aound which a wheel steers.)
It worked well. I can post photos if anyone wants to see them.
> As I made allusion to in a earlier response to this thread,
> don't think of 8 legs but 4 legs on two sets. And the two sets are always
> out of sync (I'll leave the issue of a clutch/break for turning as an
> exercise in gear trains).
It's quite easy. For instance, see the Cyber Spider (from www.wowwee.com).
The left 4 legs are connected to one motor (alternate legs are 180deg out
of phase) and the right 4 legs are connected to another motor. It's then
driven as a simple skid-steer. It can be converted into a great robot if
you rip out the electronics.
The trick with legged skid-steer is to ensure that the footprint width is
greater than the length.
Peter
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