Subject:
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Re: SSCorpion
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Newsgroups:
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lugnet.technic
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Date:
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Tue, 13 Apr 2004 22:32:38 GMT
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Viewed:
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7076 times
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In lugnet.technic, Steve Hassenplug wrote:
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In lugnet.technic, Kevin L. Clague wrote:
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This will be interesting because it is my first partner build.....
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Steve, I think its cool too because you have experience at obtaining objectives
like with the Robotics Challanges you have participated in. As well as you own
work.
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1. Typically they walk forward with two groups of four legs.
2. Turning is done by using a different sweep, primarily with the front
two and back two legs.
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...
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Two groups of four legs is a simple extension to hex242 and hex363.
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Will this type of design allow it to turn in place, or can it only turn while
walking forward/backward?
I think it should be able to turn in place. That could mean dis-connecting
the legs on each side.
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A nice quad pivot pattern with opposesing sweep movements alternating to change
the body’s direction. See what Kevin can do with the air circuts. I know he has
worked hard to created the alternating leg motion, the tough part is to have a
seperate sub sequence that can be “Switched” into place to begin the turn cycle.
A toughie. Am I right? Oh escpecially since many alternating cycles will have to
take place. The body will be able to spin in it’s own foot print.
Or there are other creative ways to slowly alter the gate to start heading it in
different directions, but that is not practical in terms of trying to attain
agility.
We’ll just see what Kevin comes up with and we’ll work with that.
I also offer the old addage that if you plan for 10 cool things or functions to
be included in a creation, and if you only get 8 or 9 of them nailed down, then
you did ok. There is always compromise with practicallity. Just tossing that
out.
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Also, moving sideways would be cool. That would mean adding a side-to-side
piston, to go along with the forward/back piston on each leg. Right?
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That would help it trun better too? right? if you could that would be cool.
My inital thought as I eleuded too before, is to what level do we want to pursue
this. Do we want to make it super badass and include all kinds of great stuff or
do we want to see if we can just manage letting Kevin create the muscles, I make
it look good and you Steve guides us in sensor placement and articulation
management.
We can try a few paths, its fun to think about how we determine the best route.
My first priority is to allow the muscle movement to be set by Kevin and have
him detail to you Steve the kinds of links that will needed to manage the Leg
Systems.
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The walking mechanism will be completely wired into pneumatics. For walking
backwards, we can use pneumatic polarity reversors controlled by RCX/Motors.
The RCX may need to know that we are in the right state before it changes the
muxes, so that will take some kind of sensor.
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The control could be Motor->pneumatic switch for:
A) Forward/Backward/Stop (x2) (one for each side, as in diff drive)
or
B) Forward/Backward and a second switch for Stop/Go (x2)
or
C) Forward/Backward, Stop/Go, Same/Opposide (legs on both sides go same
direction or opposite direction)
Any thoughts about what works well, Kevin?
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Nice!
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Other kinds of articulation could include the claw arms, and/or the tail.
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The claw is a must. As is curling the tail.
But, do the arms move?
As I said, I’d like to see sensors on the arms, somewhat like antenna, so when
it’s being autonomous, it can detect objects. And on the front feet, so it
can avoid falling in holes, or walking off tables.
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We’ll totally do that. We can mount Sensor on the front or backside of the Claw
to help detect things. Also, on the tips of the Legs as you suggested.
Could we consider using touch sensors on the tips of the feet so we can
determine when each foot is on the ground, or react if a given leg is not where
it is expected to be? Like edge of the table detection like you suggested?
Also there is a special set of organs at the bottom of the head that sweep the
group that gives the Scorpion more info about its surroundings, we could emulate
that too as an additional set of protection/avoidance sensors.
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The first challenge I see from our brief discussions, is that Eric builds
backward. :) I think both Kevin and I start from the inside, and build out.
While Eric starts on the outside, and builds in.
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ok, sorry but you got that mixed up. I gotta correct you on that one.
You gotta go to school in my Brickshelf Gallery.
All my creations start our with functions and frame work built first. What you
see is the illusion crafted over the mecha underneath. If you thought otherwise
then I have succeeded in my craft.
In other words by that logic do you really think I made Jama beautiful then made
the guts, no way, form and function are considered upon eachother in a combined
way until a sweet song is produced I listen for the song when searching for the
best most beautiful solution I can. IMHO.
Look!
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I usually worry about how my robot look, but that’s secondary to how they
work.
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Make the leap. This is what this project is about. Form and Function synergized.
I never scarifice looks for function or vise versa, so long as scale permits.
If not, I just build bigger and enjoy the enpansion in rules.
cool, this will be fun.
e
p.s. btw, I should predicate this upon Kevin’s desire to bring an additional
organic feel to the systems he has created. He approached me and asked if we
could create something together that used the best of our own merits.
And now I’m so glad you Steve are willing to enter into this triumvirate to help
manage the subsytems and advise. Your ability to help engineer sensor placement
and RCX control will help greatly.
Heck maybe we can get a JCX out of it.
;)
e
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Message has 1 Reply:
 | | Re: SSCorpion
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| (...) Yes. Right now, I think we're still brainstorming, so we need to come up with all the cool ideas about what we want to do, then we can figure out what is feasable, and what we want to skip. (...) Yes. Start with super badass, and trim from (...) (20 years ago, 14-Apr-04, to lugnet.technic, FTX)
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Message is in Reply To:
| | Re: SSCorpion
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| (...) I assume you're not counting the Team Magno fiasco. I guess there really wasn't much building involved there. :) (...) ... (...) ... (...) Will this type of design allow it to turn in place, or can it only turn while walking forward/backward? (...) (20 years ago, 13-Apr-04, to lugnet.technic)
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