Alt-BEAM Archive
Message #04741
To: beam@sgiblab.sgi.com
From: Ian Bernstein ian@beam-online.com
Date: Mon, 21 Jun 1999 18:23:47 -0400
Subject: 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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