Alt-BEAM Archive
Message #08335
To: beam@sgiblab.sgi.com beam@sgiblab.sgi.com
From: Dennison Bertram dibst11+@pitt.edu
Date: Saturday, 18 December 1999 11:46
Subject: 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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