03266 [alt-beam] Re: Who was it that made that?Servo Bots / Inspiration

Alt-BEAM Archive

Message #03266

To: "'Rick Diaz'" rrdiaz@email.msn.com, Dennison dennlill@buffnet.net,
From: Wilf Rigter Wilf.Rigter@powertech.bc.ca
Date: Fri, 14 May 1999 07:28:56 -0700
Subject: [alt-beam] Re: Who was it that made that?Servo Bots / Inspiration

Thanks Rick,

A little before my time! Nice example of a digital servo controller though
and definitely an "influential email" (you missed one Chiu!) My other
comment is that the design lacks, what my friend Ray calls, "slickticity" ,
it looks clunky like so many other servo controllers and of course it is not
a proportional control. Nevertheless, David get's the credit for recognizing
and demonstrating the potential of this approach. Any prior claims? If not
let's get on with the show! As a courtesy to all of you, the circuits in my
Thu 5/13/99 10:41 PM are yours to use as you like as long as you show the
same courtesy towards me. (heheh)

enjoy

Wilf Rigter mailto:wilf.rigter@powertech.bc.ca
tel: (604)590-7493
fax: (604)590-3411

> -----Original Message-----
> From: Rick Diaz [SMTP:rrdiaz@email.msn.com]
> Sent: Friday, May 14, 1999 5:32 AM
> To: Dennison; Sean Rigter; Chiu-Yuan Fang; James Taylor; Jean auBois;
> 'Steven Bolt'
> Cc: beam
> Subject: Re: Who was it that made that?Re: Servo Bots / Inspiration
>
> I think this is what you were asking for.
>
> Later...Rick
>
> BEGIN MESSAGE
> **************************************************************************
> **
> *************************
> DATE: Fri, May 22, 1998 3:31 PM
> FROM: "David@Winchell.Net"
> SUBJECT: It's alive !! STOP HACKING THOSE SERVOS!! Throw away your
> springs.
>
> Hello World, Tomorrow we WALK. It's time for the next step!!
>
> It's alive !!
> STOP HACKING THOSE SERVOS!!
> Throw away your springs.
> Stop falling over in mid stride.
>
> Stop trying to build pager motor gear boxes
> and start building killer walkers.
>
> A given from M. Tilden:
>
> Watch as machine evolution occurs.
>
> In other words, robogenetics through robobiologics.
>
>
> NOTE: THE FOLLOWING CIRCUIT DESCRIPTION IS COPYRIGHTED BY
> DAVID WINCHELL AS OF 22 MAY 1989 AND MAY ONLY BE USED BY
> BEAM MEMBERS FOR ENTERTAINMENT. NO COMMERCIAL APPLICATIONS
> ARE AUTHORIZED WITHOUT WRITTEN PERMISSION. WHAT BELONGS TO
> MARK TILDEN IS HIS AND MINE IS MINE. OH JUST HAVE FUN
> BEAMer'S
>
> My new walker NON-MODIFIED SERVO brain has run for 24 hours
> without going in to saturation.* I used 2 * 74HC14's and one
> 74HC125. One 74HC14 acts as a dual channel SERVO POSITION
> UNIT "SPU" Two of the inverters are wired to form a BI-core.
> two more inverters are wired to form half monostable one
> shots. R1*C1 AND R2*C1 are set to generate a 45 HZ rate
> triggers to the R3*C3 and R4*C4 half mono's. The R3*C3
> half mono is set to generate a 1.25 ms positive going pulse
> or 45 degree CCW position. The R4*C4 half mono is set to
> generate a 1.75 ms positive going pulse or 45 degree CW
> position. By using an SPU you can build and test your frame,
> legs and test it with one chip on a tether.
>
> --------------------------------
> | 1 2 3 4 |
> ----|>--+--C1--+--|>--+--C2--+--
> | | | |
> | R1 | R2
> | | | |
> | G | G
> | |
> | | 5 6 9 8
> | ----C3--+--|>----|>---- CCW POSITION
> | |
> | R3
> | |
> | G
> | 11 10 13 12
> ------------------C4--+--|>----|>---- CW POSITION
> |
> --|>-- 74HC14 R4
> |
> G
>
> If you use two push buttons you can test run your servo.
>
> ___________
> +6VDC | |
> ----------- | Servo red wire ---------
> | | -------------------+ |
> | | CW___ | |
> | +------o o----- Servo white wire | |
> | SPU | CCW___ +--------------------+ Servo |
> | +------o o----- | |
> | | | |
> | | -------------------+ |
> ----------- | Servo white wire ---------
> G
>
> Now that the SPU is working add the 74HC125 SERVO CONTROL
> UNIT or SCU.
> 1 ___
> ---RS-CW--o o--G
> 2 | 3
> ----------- --------|>----------------------+
> | | | 4 ___ |
> | | | ------- FS-CW--o o--G |
> | | CW | 5 | 6 |
> | +------+--|>---+ |
> | | | |
> | SPU | +--Front Servo White +--Rear Servo White
> | | CCW | |
> | +------+---|>--+ |
> | | | 9 | 8 ___ |
> | | | -------FS-CCW--o o--G |
> | | | 10 |
> ----------- ---------|>---------------------+
> 12 | 11 ___
> --RS-CCW--o o--G
> 13
>
> 74HC125
> ---- Tri-State Control, Ground to enable.
> |
> In --|>-- Out
>
> Note: I put 10K pull ups in 74HC125-PINs 1,4,10 & 13
>
> 74HC125-PIN 1 = G Then Rear Servo = CW RS-CW
> 74HC125-PIN 10 = G Then Rear Servo = CCW RS-CCW
>
> 74HC125-PIN 4 = G Then Front Servo = CW FS-CW
> 74HC125-PIN 13 = G Then Front Servo = CCW FS-CCW
>
> Now for the final step add the a Stabilized BEAM Quad Core. This
> design may be expanded to drive a 12, 16 and so on servo walker.
> Lookout MIT this may be the new wave. But the TIMING may Vary
> with user and cause variant and deviant behavior.
>
> --------------------------------
> | 1 2 3 4 | Core Stabilizer
> ----|>--+--C5--+--|>--+--C6--+--
> | | |
> --------- R5 R6
> | | |
> | G
> |
> |
> | Open loop Quad Core.
> | G1 G2 G3 G4
> --C7-+-|>-+-C8-+-|>-+-C9-|>-+-C10-+-|>---
> | | | | | | |
> R7 | R8 | R9 R10 |
> | | | | 1N914 Diodes
> | | | --+--|>|-- TO 74HC125-PIN 4 -
> FS-CW
> | | | |
> | | | ---|>|-- TO 74HC125-PIN 10 -
> RS-CCW
> | | |
> | | |
> | | --------+--|>|-- TO 74HC125-PIN 4 -
> FS-CW
> | | |
> | | ---|>|-- TO 74HC125-PIN 1 -
> RS-CW
> | |
> | |
> | ----------------------+--|>|-- TO 74HC125-PIN 13 -
> FS-CCW
> | |
> | ---|>|-- TO 74HC125-PIN 1 -
> RS-CW
> |
> |
> --------------------------------+--|>|-- TO 74HC125-PIN 13 -
> FS-CCW
> |
> ---|>|-- TO 74HC125-PIN 10 -
> RS-CCW
>
>
> Bi-Core State:
>
> Quad-Core Front Servo Rear Servo
> ===================================
> G1 = LOW CCW CCW
> G2 = LOW CCW CW
> G3 = LOW CW CW
> G4 = LOW CW CCW
>
> * Use .01 ceramic caps on all power leads.
> Use 10uf electrolytic on servo power leads.
>
> END MESSAGE
> **************************************************************************
> **
> *************************
>
> >Dennison
>
> >Actually, surprisingly, SOmeone a while ago came up with this. I don't
> know
> >what happened to them, but they were very happy with it. It was a
> >'microcore' but it controlled the Servo Motors directly. Creating the
> >propper pulses, and they had it going so that they had a walker that
> never
> >saturated. It's was pretty neat, anyone remeber who that was? Or have a
> copy
> >of their e-mails?
>
>
>

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