Alt-BEAM Archive

Message #04424



To: beam@sgiblab.sgi.com
From: Jason - evenflow88@hotmail.com
Date: Sat, 12 Jun 1999 09:20:10 GMT
Subject: [alt-beam] Re: Turning a walker(to james)





>From: James Taylor
>Reply-To: beam@sgiblab.sgi.com
>To: beam@sgiblab.sgi.com
>Subject: Re: Turning a walker
>Date: Fri, 11 Jun 1999 23:56:02 -0700 (PDT)
>
>Hello
> Well several items contribute to the overall
>turning abilities. BEAM tech has alot of goodies on
>the subject. Currently I am using a uCore, with .22
>uF Caps and 1 meg resistors. 2 motor walker, setup
>similar to chui's, and the uni-bug. The Back motor
>does the turning, as it does the pushing. I also
>found that the front legs will help the walker turn if
>it pulls more in one direction than other. Similar to
>the back legs, the push more to one side. Once the
>uCore is biased in a certain direction, the back leg
>swing increases to one side and it begins it's turn.
> Eventually the bot will end up on it's back, due to
>the large amounts of leg swing. But end stops seemed
>to have lessened the frequency in which this happens.
>
> On the electronics side it's really basic. I have
>found that increasing and decreasing resistor, and
>capacitor values, give longer, or shorter pulse
>lengths. (this is in the BEAM Tech FAQ) Anyway,
>increasing the pulse length of the back motors, turns
>the robot, however it is a gradual turn. Obstacle
>avoidance is nearly impossible, but phototropism is
>possible using this setup, and photo resistor pairs.
>If you have anymore questions, and I'll be glad to
>answer them.
>

hie,
well for another thing i need to know is what gearmotor u are using for it
and have u tried other orientation of the motor on the walker that works as
well.and for the electronics u mean u just used one photodiodes in series
with a input resistor to bias the walking gait(lengthen or shorten) in
input 1 and 3 if the core is like that

1 3
2 4

which means both front or both rear legs...correct me if i am wrong

p/s:what other ways are they to make it turn?

jason


______________________________________________________

------------------------------------------------------------------------

eGroups.com home: http://www.egroups.com/group/alt-beam
http://www.egroups.com - Simplifying group communications



Home