Subject:
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why won't my biped walk?
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Newsgroups:
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lugnet.technic
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Date:
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Sun, 22 Aug 2004 14:55:03 GMT
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Viewed:
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3348 times
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A newbie needs some help here... I tried to make a biped COG-shifting walker,
based on the many excellent examples found in the archives here. But it doesn't
walk -- it just tips up onto the edges of its feet.
Here's the starting position (both feet flat, one slightly ahead of the other):
<http://www.strout.net/temp/bot1-start.jpg>
After a quarter-cycle advancement, it should have itself tipped over onto one
foot and the other one in the air, like this:
<http://www.strout.net/temp/bot1-desired.jpg>
But here's what actually happens (if I don't give it a nudge with my finger):
<http://www.strout.net/temp/bot1-actual.jpg>.
It makes sense that this happens -- as the lifting foot starts to lift, the bot
(whose is in the middle at that point) naturally shifts over slightly onto the
lifting foot. So it never manages to get it off the ground. It seems like for
that to happen, the lifting foot would have to push a little to get the weight
over onto the supporting foot, before it lifts into the air. But I don't see
how the simple mechanisms posted here can accomplish that.
Can you more experienced biped builders give me a clue?
Thanks,
- Joe
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Message has 4 Replies:
 | | Re: why won't my biped walk?
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| (...) A useful first step would be to clean up the construction of the motor/gear housing to make it symmetrical. With how jumbled some of those parts look, I'd be very surprised if your center-of-gravity isn't off-center. If it is, that would mean (...) (20 years ago, 22-Aug-04, to lugnet.technic)
| | | Re: why won't my biped walk?
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| Here's my opinion: Your CG is too low or your feet are tooo heavy. Your bot is not able able to put enaugh weight over to one side (or the other) to balance on one leg. Try either making lighter feet or raise your CG by raising the motor assembly up (...) (20 years ago, 22-Aug-04, to lugnet.technic)
| | | Re: why won't my biped walk?
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| (...) Good explanations so far. Here are some additions. The problem is that you are not truly getting the center of gravity inside the footprint of the down foot. The critical part is to get the center of gravity past the inside edge of each foot. (...) (20 years ago, 22-Aug-04, to lugnet.technic)
| | | Re: why won't my biped walk?
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| "Joe Strout" <joe@strout.net> wrote in message news:I2us3r.9oF@lugnet.com... (...) walker, (...) doesn't (...) Take a look at another "Joe" He is my favorite for making simple things do complex work. (URL) (20 years ago, 22-Aug-04, to lugnet.technic)
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