Alt-BEAM Archive
Message #12884
To: 'beam@sgiblab.sgi.com' =
From: Vermeulen, Vincent =
Date: Fri, 31 Mar 2000 19:23:09 -0800
Subject: RE: Fttaba servo as motor/gearbox combo.
I leave them on the gear train. It's a bit complicated without talking it=
through, but I will try. Attached is an ugly ugly sketch, but legible I ho=
pe.
The resistance to ground in the neuron is only important when the pulse i=
s actually in that neuron. The pot position corresponds to the leg position=
. So when a leg is too far off center, the resistance is higher than 'norma=
l', causing the pulse to remain in the neuron longer, making the leg move f=
urther the other way. The walker will straighten itself back out (and exhib=
it some other interesting behavior, such a shuffling or sidestepping depend=
ing on your motor setup) in three or less steps if left alone.
=
-snip-
Vincent
=
=
=
content-transfer-encoding: quoted-printable
>
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----- Original Message -----
Sent: Friday, March 31, 2000 3:10 =
PM
Subject: RE: Fttaba servo as =
motor/gearbox combo.
31032000>I =
leave them on the gear train. It's a bit complicated without talking it =
through, but I will try. Attached is an ugly ugly sketch, but legible I =
hope.
31032000>The =
resistance to ground in the neuron is only important when the pulse is =
actually in that neur
AN =
class=3D211541021-31032000>on. The pot=
position =
corresponds to the leg position. So when a leg is too far off center, the=
=
resistance is higher than 'normal', causing the pulse to remain in the ne=
uron =
longer, making the leg move further the other way. The walker will straig=
hten =
itself back out (and exhibit some other interesting behavior, such a shuf=
fling =
or sidestepping depending on your motor setup) in three or less steps if =
left =
alone.
class=3D211541021-31032000>
-snip-
class=3D211541021-31032000>Vincent
class=3D211541021-31032000>
class=3D211541021-31032000>
class=3D211541021-31032000>
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