Alt-BEAM Archive

Message #09927



To: beam@sgiblab.sgi.com
From: void_s@ihug.com.au (Xaphiosis)
Date: Wed, 9 Feb 2000 15:55:17 +1100
Subject: [alt-beam] Overall beginner confusion...


Hi ... sorry to bother, but I don't quite understand a couple things about
the bicore
2 motor walker (or similar).
I hope these questions haven't been answered 10x already ...

1. How does the circuit "detect" what the motors are doing?
2. How does the gait become formed?
3. Why don't the inaccuracies in the motors make the design unusable
(ie. moving forward, then back, will not get the motor in the initial state)
Are the motors limited somehow, by the gearboxes?
4. How is the walking "steered" in a direction, eg. sunlight? Won't that kill
the gait?

Big thanks in advance,

X.

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