Alt-BEAM Archive
Message #06141
To: "'beam@sgiblab.sgi.com'" beam@sgiblab.sgi.com
From: Wilf Rigter Wilf.Rigter@powertech.bc.ca
Date: Sat, 18 Sep 1999 14:11:05 -0700
Subject: [alt-beam] Re: 3 motor bicore walker
Hello Grant,
Born about a year after WWII (bad war, peace at last, let's celebrate!),
I'm one of the original baby boomers. Monkey curiosity? It's in our genes or
I'm in Kansas, heheh!
Attached is a picture worth a thousand words (actually 2535 bytes).
<>
What were we talking about? Oh yeah, triple bicores: take one master and two
slave bicores, reduce the coupling resistor values by about 30%, connect
them in series and you'll have a 3 phase pattern generator with
complementary outputs. The exact phase relationship should be adjusted with
the coupling resistors to match the mechanical timing requirements.
There is also the single master, many slave monocore design successfully
used in Darrell Johnson's Worms which reduces the number of passive
components by about 50% .
enjoy
Wilf Rigter mailto:wilf.rigter@powertech.bc.ca
> -----Original Message-----
> From: grant mckee [SMTP:gmbeam@hotmail.com]
> Sent: Friday, September 17, 1999 7:20 PM
> To: beam@sgiblab.sgi.com
> Subject: 3 motor bicore walker
>
>
> I can't really think of anything inspiring to say so a question is the
> next
> best thing (or nothing at all but where would that get us?)
>
> I have built a few walkers and have noticed that a master slave bicore
> seems
> to be more elegant then a microcore, nothing wrong with microcore but I
> have
> better exp with bicore.
>
> ok I have already made up a 3 motor bicore with a reverser and
> breadboarded
> it, thats no problem. Heres the question how many motors could the
> master-slave bicore architexture be used for, not on a worm or lamprey but
> a
> walker, Mark t used somthing like a microcore for his spyder I heard, or
> maybe somthing eles? I know there is not too much of a point in building
> another spyder, high power consumption, i would assume very hard to tune,
> 8
> motors is quite a load to carry, restoring force nightmare and adding
> sensors yikes, but one thing it does have going for it is it is
> impressive.
> 5 motor walker with bicores? or does a bicore lose its elegance as the
> number of motors increase? might be fun to try to control bicores with a
> stamp or processor instead of hardwiring it perhaps a comparison?
>
> and another question has bothered me how old is Wilf R I mean he was
> designing circuits when my dad was my age, oh oops you don't have to
> answer
> that Wilf just my monkey curiosity thats all.
>
>
>
>
> Sincerly confused.. uurrr nevermind
>
>
> sorry if this is to weird, been feeling odd latley
>
> mmmm Bicores
>
> ______________________________________________________
>
Attachment: wr.gif
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