Alt-BEAM Archive

Message #08327



To: beam@sgiblab.sgi.com
From: "Dennison Bertram" dibst11+@pitt.edu
Date: Fri, 17 Dec 1999 19:42:59 -0500
Subject: [alt-beam] Re: Bi ped



Wow Ian, that's gonna be real tough. Your design looks fine, but it's very
much like actual biped creatuers, which is both a good and a bad thing. It's
good because obviously it's design that works, it's bad because I think your
gonna have a hell of a time keeping it up. (Hey, did you get a chance to
check out Mark T's biped over the summer?) Anyway, I don't know how well the
dynamic walking theory will work with such a complex structure. One
possiblity is enlarging the feet. But this takes away the fun of the
chalange. This design does have natural advantages however. Once you get it
walking, it should be relatively easy to keep walking. AS physics should do
the brunt of the work. However, unless you make it mechanically unable to
fall over, I don't see how you would ever be able to make it stand still.
It's a dynamic machine completly.
Good Luck!
dennson


Hi again, I'm in the design phase of a new walker I have planned. It's going
to be a biped walker (see attachment). I'm trying to figure out the best
motor orientation and freedom with the least amount of motors. So far this 7
motor design is the best so far. Just so you know...

Red - Servo
Blue - Servo arm
Purple - Structural support
Green - Feet

I'm looking for any suggestions and ideas on the design and actually how I'm
going to get this thing to walk. I am sort of leaning towards a BS2 for
control and adding BEAM in for some stuff. Not sure what yet. I've already
done some walking around trying to simulate the limitations in movement when
no ones around (they would think I was weird walking around all funny) and
it seems like it will work. Anyway, I'm looking forward to hearing your
ideas.

Laterz
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