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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 (...) (21 years ago, 19-Apr-04, to lugnet.technic)
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(...) Actualy we need to sense when it is *up*. (...) As soon as you figure out that a foot is up, you can reverse directions. I'll have to study the state sequence, because there are two non-weight bearing pistons that control the feet, so it might (...) (21 years ago, 19-Apr-04, to lugnet.technic)
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(...) Is *up* the same as "not down"? I was thinking it was, but that may not be the case. (...) This sounds like we can NOT do the table edge detection stuff, using it's feet. Imagine you're crawling around on your hands and knees, with your eyes (...) (21 years ago, 19-Apr-04, to lugnet.technic)
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(...) I think that you are right, that they are the same thing. (...) Hmmm.... We would need to know two things to determine we'd hit the edge of the table. 1. The foot is down as far as it will go. 2. The down foot is not touching anything. We (...) (21 years ago, 20-Apr-04, to lugnet.technic)
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(...) Right. That's listed somewhere in my prior ramblings. It should work fine with 2 inputs (one for each foot) (...) ... (...) We may need to figure something out, here. I think it WILL be a problem. At any given time, he will (could) have only (...) (21 years ago, 20-Apr-04, to lugnet.technic)
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(...) OK. You are going to put two touch sensors on one port? I thought you needed to know that the leg is fully extended, but not touching. How will you do that with one sensor port? (...) You are right, he needs to balance on the three feet that (...) (21 years ago, 20-Apr-04, to lugnet.technic)
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(...) I can think of two was: use two touch sensors, and be able to read the state of both of them (you can do this with a 3rd party multiplex, or cybermaster sensors (which are kinda rare... right, Steve?), or use touch sensors stacked with (...) (21 years ago, 20-Apr-04, to lugnet.technic)
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| | Re: SSClagorpion
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(...) There are a couple ways that come to mind. If you don't want to know the details, skip ahead... We want to know when the leg is extended, and the foot is not touching the ground. There will be four possible states: 1) Leg up, foot not touching (...) (21 years ago, 20-Apr-04, to lugnet.technic)
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(...) Again, the main goal is to know when the leg is extended, and the foot isn't touching the ground. So, you can mount the foot sensor so it's normally closed (pressed) except when the foot is on the ground and mount the leg sensor so it is (...) (21 years ago, 20-Apr-04, to lugnet.technic)
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| | Re: SSClagorpion
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In lugnet.technic, Steve Hassenplug wrote: <snip> (...) Nope. The sequence is: 1. All feet down. 2. Lift one foot group 3. Sweep legs 4. put feet down 5. Lift other foot group 6. Sweep legs So it does not need to walk forward to lift the feet. (...) (...) (21 years ago, 20-Apr-04, to lugnet.technic)
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In lugnet.technic, Kevin L. Clague wrote: <snip> (...) Oops: B expand = ~C & ~D & E & F (...) Kevin (21 years ago, 21-Apr-04, to lugnet.technic)
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(...) I keep thinking about a rotary type walker, where the feet more or less go in a circle and the body is always moving forward. Please forgive me. :) So, when it lifts one leg group, and someone switches it into reverse, will it put those legs (...) (21 years ago, 21-Apr-04, to lugnet.technic)
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| | Re: SSClagorpion - robotic update
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The latest robotic update: As it stands now, SSClagorpion will: 1) Move: (one of these at a time) A) Walk forward & backward, B) Turn right & left C) Step right & left (move sideways) D) Stop 2) Open & close two claws on it's arms (via pneumatics) (...) (21 years ago, 21-Apr-04, to lugnet.technic)
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(...) Hey that is interesting. How would the robot actually behave in this circumstance? We'll have to build it and teach it and build as necc. e (...) (21 years ago, 21-Apr-04, to lugnet.technic)
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(...) Ahh now we are getting somewhere. (...) Hmmm, indeed, or perhaps if we monitor the time it takes for a Leg to hit the ground and then install a logic command that will take action if the leg does not hit the ground in a predetermined amount of (...) (21 years ago, 21-Apr-04, to lugnet.technic)
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(...) Ahem, (...) So we can incorporate the tail's funtionality and weight to help aid the robot by swinging or uncurling the tail so it faces away from the body and is extended back. This shifts the center of gravity away from the front of the (...) (21 years ago, 21-Apr-04, to lugnet.technic)
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(...) I'm back I'm back. What can I do? I want to build something. I'm gonna make a concept moc moc up. Pun intended. e (21 years ago, 21-Apr-04, to lugnet.technic)
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(...) Detecting the table edge is not the problem. We can do that with a sensor in the hip/leg in addition to one in the foot. Then, when the leg is extended, and the foot is not touching, there is an error. The problem (as I see it) is that it must (...) (21 years ago, 21-Apr-04, to lugnet.technic)
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(...) Nope. It will force the legs to the correct position for walking backwards, and then drop the feet. Kevin (21 years ago, 21-Apr-04, to lugnet.technic)
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(...) MOC-up! I love it! (21 years ago, 21-Apr-04, to lugnet.technic)
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(...) I could be wrong (missing something) but I think if the switch is flipped immediatly after they raise up, then the legs are in the correct position. If you're walking forward, and switch to reverse right as your foot comes off the ground, you (...) (21 years ago, 21-Apr-04, to lugnet.technic)
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(...) Probably not. Kevin (...) (21 years ago, 21-Apr-04, to lugnet.technic)
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