Alt-BEAM Archive
Message #12904
To: beam@sgiblab.sgi.com
From: Laura Malinowski Laura/Rob Malinowski malstudios@tradenet.net
Date: Sat, 01 Apr 2000 09:01:16 -0800
Subject: [alt-beam] Re: Biped
I believe I saw the same show. The music thingie is a metronome. The problem
with using people as a model for a biped is that we don't walk properly. When
we step we first move our weight foward and then follow with the leg and foot
movement. This puts us terribly off balance. Try wkling or walking by shifting
your weight over your supporting leg, placing your foot via the leg out in
front of you (on the floor). Using your supporting leg, push your weight onto
your front foot and move your ex-supporting leg (now the one behind you) foward
starting the whole proccess again. The whole time your body should be roughly
centered over the supporting foot with the knee slightly bent. I learned this
method practicing martial arts for way too many years. It is Very stable. One
of my favorite techniques when someone is approaching you with a bad intent is
to stop them by waiting for their foot to almost touch the ground and giving it
a little tap with your foot. When done properly the person causing you stress
will suddenly decide to lay on the floor and say "umph". A couple ounce tap can
often solve your biggest problem.
This translates to the fact that if a biped is walking and hits an object with
it's foot - boom! With the modified gait, a small tactile sensor on the leg can
help it avoid objects without that sudden decceleration trama that C. Maynard
talks about (sorry if your name is spelled wrong Craig). This will also give
the robot a somewhat realistic look when walking.
I will not take responsibility for the improper use of the technique
mentioned. It was meant as an example of balance.
Rob M.
Verne & Catherine Rambaud wrote:
> -----Original Message-----
> From: BUDSCOTT@aol.com
> To: beam@sgiblab.sgi.com
> Date: Friday, March 31, 2000 5:11 PM
> Subject: Re: Biped
>
> i saw a program on robots programed, but to try to keep the robot from
> falling over they something like a piano tempo thing on the top tilting away
> from the leg that is up. you might try that. being programed it would need
> excellent systems to keep it up. you might want to try non-human legs
> first, for better balance. try a jenner, kit fox, or timberwolf leg setup.
> from mech warrior 2.
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