Alt-BEAM Archive

Message #06432



To: "'beam@sgiblab.sgi.com'" beam@sgiblab.sgi.com
From: Wilf Rigter Wilf.Rigter@powertech.bc.ca
Date: Wed, 6 Oct 1999 13:08:59 -0700
Subject: [alt-beam] uCrawler V1.0




Sometimes you got to take one step back before leaping ahead as illustrated
in the attached article:

enjoy

wilf

MICRO CRAWLER V1.0 - A ONE MOTOR/TWO LEGGED WALKER
04/10/99 - WILF RIGTER

Hello and welcome to another BEAM article. This time I present a new
generation walker and a new feedback method. The Micro Crawler is really a
devolutionary step in walker design, in fact it is less of an insect and
more like a tidal pool creature crawling in the mud from whence it came
(more on that later). However it is also a drastic overall design
simplification and has some interesting emergent behaviour and as such is
perhaps worthy of consideration as a separate BEAM species. Besides,
uCrawler also includes a new leg centering method which I call the BEAM
feedback servo which has potential applications in higher order walkers.

The inspiration for this design came from the realization that rear legs of
a multi motor walker are often slaved and synchronized to the front legs and
in a sense are "idler" legs. The other example that turned on the lightbulb
was the simplicity of the single motor symet and in nature the lungfish or
mud hoppers provide an example.

The uCrawler V1.0 is phototropic and will nicely crawl towards and follow a
bright light source. The other feature of the V1.0 is it's preference for
somewhat rough surfaces ie the sofa cushions and short fiber Persian carpet.
Future work will attempt to optimize the "feet" to make the crawler
compatible with smooth surfaces and additional work is required to add
reverse motion. As variations on the theme, ideas for sand and amphibian
crawlers are also roiling on the event horizon.

THE uCRAWLER BODY

The uCrawler v1.0 body is little more than a head and a tail consisting of
three parts:

1) A modified hobby servo with a pair of legs (or flippers) at the front of
the walker.
2) A long sloping PCB "tail" attached to the servo, containing photosensors,
the Servo Core, and the battery pack.
3) An idler wheel attached near the end of the tail supporting the battery.

The side and front view drawings illustrate the overall body layout.

<> <>

THE IDLER WHEEL

The idler wheel turns the uCrawler into a bit of a hybrid using the best of
wheeled and legged creature worlds. Unlike most wheeled bot idler the
ucrawler wheel does not swivel and remains always fixed in-line with the
body.

The idler wheel serves two functions: it supports much of the weight and
acts like a resistance to the reaction of the leg motion which causes cute
but otherwise useless tail wagging behaviour. In a sense it is also like a
stabilizing fin or a tail rotor of a helicopter. The resistance to sideways
tail motion is the reason for not allowing the wheel to swivel.

In the prototype I used a soft rubber capstan idler wheel and bracket from a
walkman tape recorder bolted to the bottom at the end of the 6" tail.

THE STANDARD HOBBY SERVO

Many readers are already familiar with the hobby servo but I will include a
short description of it's design and operation. The unmodified servo
consists of a boxlike housing with two mounting ears, an output shaft and 3
pigtail wires for power and control signals. After removing four screws,
inside the housing we find a small PCB with the control decoder and driver
electronics, a small permanent magnet motor with a gear box and a feedback
potentiometer connected to the output shaft. The output shaft has a
mechanical stop attached which prevents the shaft from rotating more than
about 180 degrees. The servo is therefore designed for partially rotating
the output shaft like a bicycle steering wheel or as a powered joint for
robot arms or legs.

The hobby servo uses 0V and +3-6V power connected to the black and red wires
respectively and the electronic driver is controlled with pulse width
modulated (PWM) control signals on the white wire. (Important note: servo
wire color codes vary and using the wrong hookup can destroy the servo!
Always check for the correct color code for your servo) The PWM signals are
narrow positive pulses which are 1.5ms in width with a maximum deviation of
+/-0.25ms. This corresponds to the output shaft center position and up to
+/- 90 degree clock wise (CW) and counter clockwise (CCW) rotation. The
repetition rate of the PWM signals is usually between 20-100 pulses per
second. for smooth servo control When the pulses cease the servo remains in
the last position.

THE MODIFIED HOBBY SERVO

While it is possible to generate the required pulses using beam circuits, as
reported in a previous article, most beamers just rip the electronic guts
out of the servo and often remove the mechanical stops as well. Other
roboticists just remove the stops and sometimes the feedback pot in order to
convert the servo to a bi-directional continuous rotating gear motor for
driving wheels etc. with speed and direction controlled by PWM pulses from a
micro controller chip.

When servos are used for BEAM bicore or microcore walker applications, the
perpetual problem of centering the legs rears it's ugly head. Springs and
gravity are alright but by modifying the servo we have also removed the
excellent position feedback circuit which would be perfect for centering or
steering legs in a BEAM walker if it weren't for the need of generating the
precise control pulses.

SERVOS FOR BEAM WALKERS

Unlike most other servo applications, walkers require servos which
constantly "reciprocate" back and forth. Beam walkers use micro core or
bicore oscillators to apply a constantly reversing voltage across the motor
winding. The signals are applied without output shaft feedback and instead
gravity or springs are used to load (slow) the servo at the end of travel
like soft mechanical stops and to coarsely center the legs. While it would
be possible to use BEAM circuits to generate the 1.5 ms pulses +/-0.25 ms,
it would require a fair bit of additional circuitry to what is supposedly
the simplest possible design. The uCrawler design gets around the problem by
dumping the PWM control circuit and putting a very simple BEAM like
oscillator in the position feedback loop. Before discussing the electronics
let's first look at the required servo mods.

HACKING SERVOS - BEAM SERVO STYLE

The uCrawler modifies the Servo by removing the electronics PCB and by
connecting 2 wires to the motor terminals and 3 wires to the servo pot for a
total of 5 wires, to connect to the external control circuit. The uCrawler
circuit is so simple that a standard size version could be easily mounted
inside a standard servo housing and future revisions will do just that. When
using the smaller "micro" servo housing, used in the prototype, SMT
components would be required for an internal control board.

Since the servo pot is connected to the output shaft, the moving "wiper"
contact changes the ratio of resistance for the upper and lower terminals.
If the outside terminals of the pot are connected to +V and 0V, then the
voltage on the wiper contact is proportional to the rotation of the output
shaft and the legs connected to the servo.

"Great!", you say, "let's connect the pot to the bicore to center the legs!"
"Hmmm, sorry, but the resistance is only 5K and incompatible with the bicore
circuit" says I (and others before me)

So what is needed is a little adaptive circuit design which turns out to
utterly simple.

THE SIMPLEST BEAM SERVO

There is a very simple circuit which is basically a HC14 Schmidt trigger
circuit which uses the servo motor and potentiometer for feedback to create
the oscillation and side to side rotation. This circuit's operation is very
simple and easy to explain. The circuit shown in the EARLY SERVO1 drawing.

<>
Let's assume that the output shaft and pot are rotating CW and that the
wiper voltage is becoming more positive. When the wiper voltage crosses the
positive threshold of the Schmidt at about 2/3 Vcc, the circuit output
switches and the motor reverses. Now the motor has to rotate CCW until the
wiper voltage drops to 1/3 Vcc at which point the Schmidt trigger changes
state once again and the motor rotates CW. This continues indefinitely with
the legs moving back and forth, precisely limited to maximum CW and CCW
positions. While this provides 100% position feedback, it is single minded
in it's operation.

ADDING SOME MORE FEEDBACK

This simple HC14 circuit can be slightly modified to add features such as
fine tuning the centering of the legs or to add phototropic behaviour. This
is done by adding a summing network to combine the output of several
feedback sources. The summing resistors should be large resistances in
comparison to the feedback source resistance for signal isolation.
EARLY SERVO2 shows a second centering pot and a summing resistor to fine
tune the center of rotation. Since the 10M summing resistor is 10x larger
than the summing resistor of the servo pot, the effect of adjusting the
centering pot is about +/- 10% of the total rotation around the center
point. In addition, a pair of Light Dependent Resistors (LDR) act as a
voltage divider, the output of which is summed via a 10M resistor with the
output of the servo feedback pot and the centering pot. Again the effect is
approximately +/-10% of the total rotation around the center point. So the
effect of an imbalance of the LDR network (unequal light) turns the center
of leg rotation towards the light source, which makes the bot photoropic.
Reverse the connections of +V and 0V to the LDRs and the bot becomes
photophobic.
<>

SIX SERVOS IN ONE CHIP

Now the remarkable fact is that the BEAM feedback servo uses only 1/6 of a
74HC14 IC and some resistors to provide the logic: 6 servos in one chip is
well within the normal parameters of BEAM simplicity.

But there is a caveat: If a leg is trapped and is prevented from reaching
the end point of CW or CCW rotation the circuit will simply sit there,
stalled and possibly overheating, until there is divine intervention from
it's creator to free the legs and allow normal operation to continue.
By comparison a Bicore walker would continue to oscillate and move and use
this motor load "feedback" to shift the center of rotation providing a
better chance of freeing the trapped leg. The Bicore walker doesn't really
know and is not so single minded about where it is "supposed" to go. While
adding a cap and one more feedback resistor can provide the desirable
continuous oscillation in case of a stall, an alternative solution which
also provides the motor drivers was used for the final uCrawler V1.0
circuit.

THE V1.0 BEAM SERVO

Now let's look at the uCrawler circuit design. Like a standard Bicore it
uses a 74HC240 (or better yet, a 74AC240) but the oscillator is more like a
monocore circuit. The bottom line is that it uses 2 inverters for the
oscillator and summing network and the 6 remaining inverters for motor
drivers. The design also solves the "stalled leg" problem and of course
requires no springs!
With reasonably well matched LDRs I found that it was not necessary to add
the "centering" pot in the final design since the center error was very
small and not cumulative as it would be in a conventional Bicore design.
<>
A TAIL OF A PCB

The PCB shown in the top layout drawing is a proposed layout: the prototype
uses a 3"x4" solderless proto board and 3V battery pack taped to a plastic
strut. Without the extra weight of the protoboard and the 4.5V batteries I
expect a pretty lively. There is enough detail in the layout drawing that
would allow an ambitious BEAMER to make his own PCB. In the prototype and
PCB the LDR pair should be facing forwards and bend towards the front of the
crawler one LDR on each side of the servo housing. The fixed resistors can
be replaced with pots and you will have a lot of fun like I did to determine
useful combinations of resistor values. The fixed values shown are a the
best combination of resistors to date. Like any good fish story , I can
imagine an aquatic version of the crawler with flippers swimming (or more
accurately paddling) around the pool with a long tail and fin replacing the
idler wheel. Alternately drive the tail with the servo and use pectoral fins
for stabilization. Afraid of water? Perhaps let your imagination fly and
fancy dress the uCrawler in feathers (no tar please) or with modified feet
perhaps sand's your game. A final comment on the prototype: the legs are
bent at 90 degrees apart and each is about 2" long. The tip (1/4") of each
leg is also bent back so that it slides forward with little resistance but
when pushing back, the tips digs in for good "purchase" (look it up in the
dictionary heheh!) The speed of the prototype is about 1-2" per second
depending on the surface.

<>

IT'S A WRAP

Well we've come full circle and back to the beginning of the tale of the
simplest of all beam walkers. I will continue crawler development especially
searching for a reversing uCrawler, so any suggestions along those lines
will be appreciated.


enjoy

Wilf Rigter mailto:wilf.rigter@powertech.bc.ca




Attachment: uCrawlerside.gif


Attachment: uCrawlerfront.gif


Attachment: earlyservo1.gif


Attachment: earlyservo2.gif


Attachment: uCrawlerschem.gif


Attachment: uCrawlerlayout.gif

Home