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This pneumatic quadraped can walk forward, backwards, and turn right or left.
It is a followon to my original quadraped Quad242 (
http://www.brickshelf.com/cgi-bin/gallery.cgi?f=63133 ). The pneumatic circuitry
of Three Toe Quad, is identical to that of Quad242. The thing that changed is
the leg/foot structure.
Quad242 had large plates as feet. The feet were rigidly attached to the legs.
This rigid attachment made the feet rotate as the legs swept. The rotation of
the feet broke friction between the feet and the floor, making it an inefficient
walker.
Three Toe Quad, has ankles that can rotate as the leg sweeps, allowing for
better traction with the ground. The three toes (and the heel) are made from
rubber tipped competition arrows. The rubber tips grab the walking surface much
better than the plastic plate used by Quad-242.
Three Toe Quad starts with four feet on the ground, then lifts one pair of legs
(they are paired diagonaly). Once lifted, it sweeps the legs to stride (forward
or backwards), or turn (right or left). Once the stride completes, it puts the
up feet back to the ground. It then lifts the other pair of feet, strides, and
puts those feet down. From here the cycle repeats.
To convert forward walking to backward walking, I use 4 pneumatic switches to
reverse the direction of the leg stride (a pneumatic polarity reversor), and I
use four more switches to swap the pneumatic outputs that feed the lift
circuitry.
To convert walking to turning, I use 8 more pneumatic switches to reverse the
sweep direction of two of the legs, so that the legs move in a symmetric
fashion.
Three toe quad is totally pneumatic. All you need to do is apply air pressure
to make it walk.
http://www.brickshelf.com/gallery/kclague/3-toe-quad
http://www.brickshelf.com/gallery/kclague/3-toe-quad/p9090198.jpg
Enjoy!
Kevin
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