Alt-BEAM Archive
Message #00291
To: beam@corp.sgi.com
From: Michael Kennan kennanm@efn.org
Date: Mon, 08 Feb 1999 22:09:09 -0800
Subject: [alt-beam] F-F-F-F-Feedback
Here is a quote from Tilden:
"Feedback: Put in 50k pots across your 245 from the ins
to outs, and play the convergence game again.=A0 Proprioceptive feedback
benefits (implex) really only work on reasonably efficient motors, so if
you're using servos or slot-car motors, you can skip this bit and go back
to convergence fine tuning.=A0 Other forms of feedback will entail limit
switches, potentiometers on your motors, and etc.=A0 The classical feedback
methods popular in robotics and RC hobbys for years.=A0 If you're using
worm-gear drives, for example, the *only* way you'll get a functional
walker is with limit switches on your legs. "
Keep those limit switches in mind, then look at the Tilden creation on
Kristoffer's site at
http://home.swipnet.se/kristoffer/54_2b.jpg"
eudora=3D"autourl">h=
ttp://home.swipnet.se/kristoffer/54_2b.jpg.
Note how the 'antennae' follow the contours of the legs, then move out
some distance from the bot. This bot can tell if a leg is bound by
the state of those sensors, without relying on any more sophisticated
method of feedback.
Also of interest are the restorative 'centering' springs on each
leg.
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292 Tue, 9 Feb 1999 19:05:06 +1100 [alt-beam] Isaac Asimov's 3 rules of robotics "BEAM List" "Ben M"
The three rules of robotics
1. A robot may not injure a human being, or , through inaction, allow a
human being to come to harm.
2. A robot must obey the orders given to it by human beings except where
such orders would conflict with the First Law.
3. A robot must protect its own existence as long as such protection does
not conflict with the First or Second Law.
Isaac Asimov's
Strange. This was just a by the way message.
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