Alt-BEAM Archive

Message #08797



To: beam@sgiblab.sgi.com
From: owner-beam@sgiblab.sgi.com [mailto:owner-beam@sgiblab.sgi.com]On
Date: Mon, 3 Jan 2000 08:27:57 -0600
Subject: Re: BI ped



Hi,

I have been working on a biped robot about four years ago as a study. I
worked together with P. Lith and we created a robot which uses 10 servos.
Pressure sensors in the feet to measure the distribution of the weight on
the feet. The robot was able to dynamically keep its balance even when the
ground would change angle. It was also able to shift its weight from one
leg to the other leg all by itself. We didn't finish the project after
that. I have a photo somewhere of the robot. If someone is interested I
could sent it (if I can find it). The whole robot was controlled by an ST6
controller (eight bit controller).

See'ya

Evaristo
Evaristo

Gizmo homepage: http://www.crosswinds.net/~evaristo

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