Alt-BEAM Archive
Message #08828
To: beam@sgiblab.sgi.com
From: Bruce Robinson Bruce_Robinson@telus.net
Date: Tue, 04 Jan 2000 22:27:16 -0800
Subject: [alt-beam] Re: Lens Motors
Bob Shannon wrote:
>
> I just found the a lens assembly at Herbach, description lists 2
> gearmotors...!
You've got more patience then I do, Bob. Which heading was it under, do
you remember?
Bruce
8829 Wed, 5 Jan 2000 14:58:29 +0100 Re: Y3K Daniel Grace
> > i wont say no more about it.
> > (dont wanna start an argument: mac vs win)
> Not mac vs win, mac vs pc. There are more OSs than
> Windoze.
>
> ~Daniel
>
> =====
> ICQ # 39402143
> __________________________________________________
> Do You Yahoo!?
> Talk to your friends online with Yahoo! Messenger.
> http://messenger.yahoo.com
>
8830 Tue, 4 Jan 2000 21:23:24 -0800 Re: Biped Beam Bots "Nathaniel Martin"
> Nice bots, Ian and Evaristo.
>
>
> Here's my idea for a Biped BEAM 'Bot ("BBB"). I'll try to build it after I
> build a 2 motor 4-legged BEAM bot (A. Miller type.)
>
> Remember, I'm a newbie at this, so tell me if what I'm thinking is
impossible:
>
>
> Basically, I would keep walking and balancing separate.
>
> The robot would be "chicken legged" with the knees angled back. It would
> have two servos on the hip, one servo on the knee, and an
> electro-mechanical clutch on the ankle (I'll get to that later.)
>
> I would use a few microcores to get a basic walking rhythm:
>
> 1. Move left leg in air and rotate forwards (loosen ankle clutch)
> 2. Straighten left leg (moves foot down) until pressure sensors on the
left
> foot read that they have touched something.
> IF: the leg is completely straight and it hasn't touched anything
> (like
> with a cliff) then 1: Bend leg again
> 2: Move leg left (at hip)
> 3: go back to number 2
> 3. Lock ankle clutch (the clutch allows the foot to rotate to work with
> rough surfaces)
> 4. Bend knee while rotating leg back and straighting right leg (moves the
> body of the BBB forward.)
>
> Repeat for right leg.
>
> Now this would walk, but it would fall down. Here's how it would balance:
>
> I would have a "tail" to balance it. I put tail in quotes because it can
be
> in front of the bot or in back, so it isn't exactly like a real tail.
>
> The tail would be on top of the bot. Basically it would be a fairly long
> rod (compared with the BBB) with a fairly heavy (compared to the BBB)
> weight on the end.
>
> I would have 4 (or more) tilt switches on the BBB.
>
> I would have a very simple circuit: If a tilt switch registers a tilt, it
> moves the tail to the opposite direction of the tilt to reposition the
> center of gravity.
>
> The tail would have 2 DOF so that it can go anywhere above the 'bot.
>
>
> Did I explain this well?
>
> Do you guys think this would work?
>
>
> -Nathaniel Martin
> nat@lumiere.net
Home