oldie but a goodie
oldie but a goodie
by andylippitt
Sat Apr 09, 2005 3:03 pm
http://www.kimura.is.uec.ac.jp/research ... ie1-e.html
talk about making things difficult!
A while back this inspired me to try to get my hexapod to walk on four and carry something with two adjacent legs. Turns out my servos weren't quite powerful enough. Hopefully soon an upgraded set will let me reattempt it.
talk about making things difficult!
A while back this inspired me to try to get my hexapod to walk on four and carry something with two adjacent legs. Turns out my servos weren't quite powerful enough. Hopefully soon an upgraded set will let me reattempt it.
by limor
Mon Apr 11, 2005 12:53 am
Two other very cool spider walkers sites worth mentioning even though they dont carry stuff with their two front legs (like ants) are:
Tappotec.com (translated) check out the techno video clip for this miniature walker.
and Mundobot.com
where in order to develop feedback-enabled-gaits, Alejandro has hacked the servo boxes (tapped into the potentiometer and fed that voltage into an A2D on his oricom controler board) to get position feedback (Kondo ICS servos do the same without the need to do any hacking..) and measured the power consumption of every servo (by feeding another A2D with the voltage across a small resistor placed along the servo's power line).
Power consumption peaks and servo position doesnt change when the servo is blocked, hence they provide excelent obstruction indications.
Tappotec.com (translated) check out the techno video clip for this miniature walker.
and Mundobot.com
where in order to develop feedback-enabled-gaits, Alejandro has hacked the servo boxes (tapped into the potentiometer and fed that voltage into an A2D on his oricom controler board) to get position feedback (Kondo ICS servos do the same without the need to do any hacking..) and measured the power consumption of every servo (by feeding another A2D with the voltage across a small resistor placed along the servo's power line).
Power consumption peaks and servo position doesnt change when the servo is blocked, hence they provide excelent obstruction indications.
