Alt-BEAM Archive

Message #08396



To: beam@sgiblab.sgi.com
From: "Dennison Bertram" dibst11+@pitt.edu
Date: Sat, 18 Dec 1999 16:28:36 -0500
Subject: [alt-beam] Re: Bi ped SPringy motion


There are lots of issues to be settled over COG. And stuff like that. But I
think if your really clever you could get away without worrying about stuff
like that. The model of biped robotics with complex COG systems I feel
applies mostly when the robot is moving slowley. If the robot is moving
quickly you may not have to wory so much. (although you may also have a bot
that can only run, and not stand still). If you can keep shuffling the legs
quickly enough, and if the motors have a little 'spring' (fast action) in
them, IT hink you could get away without worrying about COG as the bot's
legs would move fast enough to catch itself anyway. I see alot of this in
the whole dynamic walking thing.

dennison


Hi

> Um, yes.. I'd like to see you lift one of your feet
> off the ground by flexing the opposite ankle.. ain't
> gonna happen.
> You have two feet planted squarely on the ground. the
> COG is directly between the feet. Rotating that one
> ankle motor isn't goinng to lift all that weight of
> the other leg off the ground without tipping over..

Well ya. If you just stand there and lift one leg your going to fall over.
You need to first get the COG over one of the feet by lowering just the leg
your going to balance on and rotate at the ankle at the same time. You are
now standing at a slight angle with the COG over the foot with the lowered
leg. I'm I missing something here?

Laterz
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