Alt-BEAM Archive

Message #09834



To: alt-beam@egroups.com
From: "R. Martin Keen" keenerd@juno.com
Date: Sun, 6 Feb 2000 06:37:37 -0500
Subject: [alt-beam] A little clarity about Walkman....


Below Tom says 'four motors like Walkman.'
Just for the sake of accuracy, Walkman had 5 motors. (check out Feb.
Smithsonian)

Just incase you're unfamiliar with 5 motor walkers, each leg has a semi
vertical motor that causes the leg to swing in a semicircle providing the
forward motion with a tad of vertical. The fifth motor, horizontal
places in the robots torso, provides the rest of the climbing power.

On Sun, 06 Feb 2000 01:15:05 PST "Tom Edwards"
writes:
>
> >From: "Jason -"
> >I would like to know what gearmotor u used for your four motor
> walker..
>
> That walker looks really interesting -- square like Spyder but with
> four
> motors like Walkman. I wonder if it will be difficult to provide
> synchronization for the motors to provide an effective walking gait
> because
> I don't think Dennison is using a hexcore or microcore. Also, with
> the
> ordinary two motor walkers, one pair of legs is used for thrust and
> the
> other for lift so how were Walkman's legs angled/positioned?
>
> In case any of you don't belong to the Yahoo BEAM Robotics club
> (which is
> pretty cool), it is easy to find a picture of Dennison Bertram's
> four motor
> walker -- the SPV v1.0 -- on the Heretics site:
>
> http://www.serve.com/heretics
>
> and the path is:
>
> BEAM Heretics: Other BEAM People: Dennison Bertram: Pictures of some
> of
> Dennisons Robots
>
>
> T
>
>
>
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9835 Sun, 6 Feb 2000 13:29
FLED Variant
"BEAM"
"Richard Caudle"




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9836 Sun, 06 Feb 2000 09:43:03 -0600 [alt-beam] Re: Hexcores, microcores, bicores and all that beam@sgiblab.sgi.com Brad Guillot All this talk of a 6nv microcore with 4 active Nv's at one time seems
like a system that can't make up its mind(or is on overdrive). I bet if
you hooked it to a walker with some heavy-duty motor drivers, the robot
would look like it was having an epileptic seizure. This must be yet
another part of the
Biology of BEAM


Brad

Jean auBois wrote:
>
> At 07:05 PM 2/4/00 -0500, Mark W. Tilden wrote:
> >The pattern looks like this...
> >0.5, 0.5, 1, 0.5, 0.5, 1
> >The phase angles are tightly locked.
>
> What appears to be going on is that the system is a chaotic oscillator with
> two strong attractors and three weak ones. The three weak cases are: no
> processes (but the power IS on), one process, and two processes. The two
> strong cases are the saturated state and the hypersaturated state -- in the
> latter case it seems as though the term "process" doesn't exactly apply
> very well. If the power supply isn't clean or there is some kind of
> electrical interference (say, motor noise), I've seen the weak cases
> (sometimes) turn into the saturated case but never the converse. In fact,
> I've seen discussion on this list about a circuit that detects any
> situation OTHER than the single process situation which then resets the loop.
>
> I reckon that one only gets the hypersaturated state if the power has a
> particularly noisy startup, or as Mark says, you shove an extra pulse in
> with the right timing -- I've not seen any of the other cases turn into the
> hypersaturated state.
>
> jab
> http://www.serve.com/heretics
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9837 Sun, 06 Feb 2000 08:46:47 -0800 [alt-beam] Heads, walkers, reversers, phototropism alt-beam@eGroups.com "Stephen Grimes"
Well hopefully, if I get some good answers to my questions on
this post, then I won't have to ask for a very ,ong time, and you guys
will have one less newbie to annoy everyone.
My first question is this: If I wanted to make a four motor,
"stryder" type walker, how would I use the head component to control
the other circuit part? (pin numbers or aquick scanned sketch would be
great, but if you can describe it well enough, then no need)
My second question: Along the same lines, how does one connect
a reverser circuit to a two or for motor bicore in order to make it
reverse or turn?
Is it possible to make a two motor walker phototropic with out
a head?
Now here's one to stir up some controversy, Which is the best
way to go in a walker circuit? Bicore or Microcore or even Hemicore? Is
there one that gives more complex behaviors?
Ok, that's it (Heh,Heh) Hope to hear from you all! thanks.
stick

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