Alt-BEAM Archive

Message #04443



To: beam beam@corp.sgi.com
From: "Ben Hitchcock" beh01@uow.edu.au
Date: Sat, 12 Jun 1999 11:47:46 +0000
Subject: [alt-beam] Re: Turning a walker


Steven Bolt did this a while ago, using two motors, and EIGHT legs.

I'm pretty sure you could make a frame with four legs that would work just
as well, provided you used the same basic design.

The interesting thing about this design is that it is a walker, that doesn't
need a microcore. All you need is one battery, two motors, and that's it
electrically. I would hazard a guess that the gait would 'evolve' over a
period of several seconds into something that approaches the alternating
diagonal gait.

Deceptively simple, this one! You just treat the walker like you would
treat a wheeled 'bot - to walk forward, you just run both motors forward.
To reverse, you run both in reverse. To turn, you make one run, while the
other either stops or goes in reverse.

http://www.xs4all.nl/~sbolt/e-spider.html

Steven, maybe you could try removing the inside four legs, and seeing what
it does?

Ben

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