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[DAT] (requires LDraw-compatible viewer)
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Subject:
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Re: Seeking Strategies on Humanoid Robots/Walkers
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Newsgroups:
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lugnet.robotics
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Date:
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Tue, 19 Jan 1999 00:14:13 GMT
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1897 times
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On Sat, 2 Jan 1999 04:19:43 GMT, lego-robotics@crynwr.com (Andrew
Phelps) wrote:
> Well, that is the million dollar question, so to speak :)
> posted. Am I to assume then that no one on this list has done this ? Let
I seem to recall that noone has succesfully solved the problem of
artificial biped locomotion even in traditional robotics, let alone
within the constraints of LEGO. Basically, what you need is a system
that can sense very delicate shifts in balance, and shift its point of
gravity to account for that. This is _difficult_, especially if you
want to have your robot do anything else. And that's just standing
still. Of course, you could make him/her be very flatfooted (if you're
thinking about a model of say 50 studs high, think the 20*40
baseplates as feet :) ), and have the robot stand on one of the feet,
while moving the other forward, then shifting the COG (center of
Gravity) to above the other foot.., etc.
maybe you could have a foot profile such as:
1111111111111
1
1
1 2222222222222
1 2
1 2
1111111111111 2
1 2
1 2
1 2222222222222
1
1
1111111111111
where 1 is one foot, and 2 the other. But that doesn't lookmuch like a
human foot anymore, and dancing would also be difficult.
If you want, say, a leg to have motion in the groin, knee, and ankle
areas, you're already looking at 6 motors. Or rather, Servos or
Pneumatics/Hydraulics: Lego motors aren't nearly accurate enoughfor
most things.
Well, back to RCX reality: Unless you have _plenty_ of cash and can
buy a dozen RCXs and solder the interfaces between em (it'd prolly be
easier to just take a real microcontroller, btw), you're gonna have to
simplify. My solution, tentatively theoretical: use the extra "stalks"
as in the picture above on the feet to help it keep it's balance, have
the ankle fixed, and the knee and groin joints set at the same angle,
in reverse:
O
/
/
/
/
o
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---------
Then make something with a large gear so it runs in a somehwat
circular motion, with the leg lifting off of the ground at the back of
the cycle, then go back to the front, then put foot down, move to
back, etc. I think you coul prolly gear the l/r leg to work on one
gear train, with one, possibly two motors to drive it. I haven't
solved left right yet, have I? Hmm... need to think about that.
Thanks for giving me such an interesting idea to think about :)
Jasper
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Message has 1 Reply:
 | | Re: Seeking Strategies on Humanoid Robots/Walkers
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| Jasper Janssen wrote in message <36a3ca48.45364286@l...et.com>... (...) This problem has been solved with both fuzzy logic and neural network control systems. I believe that a traditional control system approach to this problem has yielded poor (...) (25 years ago, 21-Jan-99, to lugnet.robotics)
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Message is in Reply To:
| | RE: Seeking Strategies on Humanoid Robots/Walkers
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| Well, that is the million dollar question, so to speak :) There really is no predetermined requirement that says the figure HAS to be humanoid, so I suppose a four or six legged creature (or even a creature with no legs) would work just as well, and (...) (25 years ago, 2-Jan-99, to lugnet.robotics)
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