Subject:
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Re: SSClagorpion
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Newsgroups:
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lugnet.technic
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Date:
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Mon, 19 Apr 2004 16:19:43 GMT
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Viewed:
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12993 times
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In lugnet.technic, Steve Hassenplug wrote:
> In lugnet.technic, Kevin L. Clague wrote:
> > In lugnet.technic, Steve Hassenplug wrote:
> > > In lugnet.technic, Kevin L. Clague wrote:
> > > >
> > > > Ignoring side walking for a moment.....
> > > >
> > > > 1) One motor to turn a single switch on/off. This allows or prevents walking.
> > > >
> > > > 2) One motor to flip 8 switches. This one controls walking vs. turning.
> > > >
> > > > 3) One motor to flip 8 switches. When walking, this one controls forward vs.
> > > > backwards. When tuning (in place), this one controls right vs. left turning.
> > >
> > >
> > > That was my second choice.
> > >
> > > Ok, three motors.
> > >
> > >
> > > I still think walking sideways is cool, but optional.
> >
> > It is still on the list, I was just leaving it out of the equation for a moment.
>
>
> Ok, so what's required for walking sideways? One switch (= single set of
> switches, all activated at once) to switch from forward/back/turn to
> side-to-side? I'm sure that comes to about 16 reverser switches, or something.
> :)
It is my belief that sideways walking will require a third degree of
articulation in the leg/hip structure. It will cause the legs to swing towards
and away from the body. By replacing the forward/backward part of the leg sweep
with the side to side leg sweep we should be able to walk.
I'd guess 16 also..... We'd need 8 to swap the side to side motions for the
forward back sweep, this gives us one direction of side walking. We'd need
another 8 to swap the direction sweep so that we can walk toward the other side.
Looks like the sideways muxes will need a motor. We can probably use the
forward/backward motor to also control the right/left muxes as well.
>
> I just happened to think, the legs should be in a known position when switching
> from forward/back to side-to-side.
>
> Do the legs need to be in a know position when switching from forward to
> backward? Or walking to turning? If so, we need sensors for that...
Yes. Changing the forward/backward/turning muxes needs to be done when the feet
are in the air. Observing any one foot is probably sufficient.
The above costs us four motors, and one sensor.
>
>
> Here's my current bill of materials:
> 1 Spybot, for IR direction control. This is mostly used as a sensor.
> 2 RCXs. I really haven't counted I/O, but two sounds like enough.
> 1 Battery box for compressor(s)
>
> All those should be installed in the body of the beast. The Spybot/RCXs will
> need to communicate via IR. (there are other options, but we'll start there)
>
> The Spybot has two motors, but very limited sensor feedback. It would be good
> to use the Spybot motors to activate something like claws (open & close), where
> it won't be critical if they work exactly right. We can use the Spybot remote
> to send it commands, like "follow me" or "attack anything in front of you"
>
> All the outputs from 1 RCX control movement. 1=Activate, 2=function
> (turn/straight), 3=forward/backward
Until you try side to side walking.
>
> Two inputs would be used for sensing the edge-of-table. That's one input for
> each front leg. Each leg would have one sensor to detect when the leg is in
> it's "down" position, and one sensor to detect the ground. The two sensors in
> each leg can be connected together, to use one input. This could be two touch
> sensors, or a touch+light sensor combination.
>
> Two inputs can be used for the arm "feelers". Maybe several touch sensors per
> arm, or one rotation sensor for each.
>
>
> I'm not sure the RCXs really need to "know" when the SSClagorpion is actually
> walking. It can assume if it runs the motors, then the switches are set, and it
> is going.
Yes, I think it can assume that if it has set the switches correctly it is
walking.
>
> Beyond that, there is one motor to set the switch for curling the tail.
>
> That leaves 2 motor outputs, and 2 sensor inputs, for further expansion. Plus a
> touch sensor & light sensor built into the Spybot. The outputs from the second
> RCX can be connected to a gearbox, like Eric was suggesting, if we want to
> control more things, but I think that may just make things more complex than
> they need to be.
>
>
> It would be nice to mount the Spybot in the end of the tail, but it needs to
> communicate with the RCXs via IR, so I don't think that will work well, unless
> we connect a fiber-optic line. No, I don't think that will work, either.
>
>
> So, SSClagorpion will walk forward & backward, turn right & left, open & close
> two claws, and move it's tail. It can stay on a table/stage, detect when it
> bumps into something (going forward), follow the "controller" or be driven
> around like an RC car.
>
> Is that enough cool functionality?
It works for me!
>
> Steve
Kevin
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Message has 1 Reply:
 | | Re: SSClagorpion
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| (...) Ok, we [plan to] have a sensor on the front foot, and can detect when that is down. So, no more sensors are required. So you said, the forward/backward must be changed while the feet are in the air. We've been thinking of having a touch sensor (...) (22 years ago, 19-Apr-04, to lugnet.technic)
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Message is in Reply To:
| | Re: SSClagorpion
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| (...) Ok, so what's required for walking sideways? One switch (= single set of switches, all activated at once) to switch from forward/back/turn to side-to-side? I'm sure that comes to about 16 reverser switches, or something. :) I just happened to (...) (22 years ago, 19-Apr-04, to lugnet.technic)
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