Alt-BEAM Archive
Message #04738
To: beam@sgiblab.sgi.com
From: Ian Bernstein ian@beam-online.com
Date: Mon, 21 Jun 99 15:23:00 -0600
Subject: [alt-beam] Feedback explained?
I know this is probably old news for some of you but I was just writing
an e-mail to someone and suddenly started to understand motor feedback
and how the walker can adapt....
What happens if the motor encounters resistance is the voltage drops (?)
and the .22 caps charge differently. On a CPU bot you say to the motor,
"go to this point". On a BEAM walker you say turn this way for x amount
of time (x also changes depending on the resistance of the motor - leg
gets stuck, at angle, rock....) so the whole thing is constantly changing
depending on the environment and terrain.
Well I wonder if there's a was to 'amplify' the motor feedback so if a
leg gets stuck it will drastically change the circuit?
Laterz
*-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-_-*
Ian Bernstein "aka - Synet" The Master Builder
E-Mail - Ian@beam-online.com
BEAM Online - http://www.beam-online.com
Quote - "Those parts of the system that you can hit with a hammer
are called hardware; those program instructions that you can only curse
at are called software."
- Levitating Trains and Kamikaze Genes Technological Literacy for
the 1990's
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