Subject:
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Re: I was thinking about bipedal walkers this morning and....
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Newsgroups:
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lugnet.robotics
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Date:
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Thu, 18 Dec 2003 21:17:50 GMT
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Original-From:
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T. Alexander Popiel <popiel@wolfskeep.com!spamless!>
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Viewed:
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920 times
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In message: <Hq3zBJ.tL0@lugnet.com>
Mark Tarrabain <markt@lynx.SPAMBLOCK.net> writes:
> Consider the way we walk... we start by effectively starting to lean
> slightly forward, [...etc...]
> Has anyone ever tried to build or design a bipedal walker that imitates
> this form of motion?
Yes, there was a lot of work on this at the MIT robotics lab back in
the 70s/80s, with bipedal, quadrupedal, and even unipedal hoppers.
To get it to work, you need good orientation and/or acceleration
sensors (I believe that the MIT folks used gyros primarily), in
reasonably close feedback with the motion... and the motion needs
to be both strong and quick. High pressure pneumatics are good
for this.
> I'm thinking that it probably wouldn't even be possible to do without
> flexible knees.
You do need a variable distance from the hip to the foot. This
can be done either with knees or with telescoping limbs.
> Is this level of sophistication even implementable in LEGO
That I don't know. All the stuff that I've seen has been with
custom-built robots. I've never seen it tried in LEGO. I
suspect (without any proof) that the LEGO motors aren't strong
and quick enough... and there aren't any appropriate sensors
in pure LEGO, either.
- Alex
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