On to the fun stuff. So far only a few of the actuators are in place; the ankle and the thighs, no hips yet. Hip actuators will help stabilize the mid section and reduce leg flopping during testing, more obviously they will provide the power for each leg - making their lunges forward and backward; completing the walking process. Yet I felt the urge to begin to tackle the looming issue of balance - dynamic balance. Traditionally there are a few core ways to accomplish this. I will tackle them one at a time and implement as needed.
For starters I am going to begin with a rotating cam in the center of the robots "hips." This represents his mid section or torso. Having the ability to lean and shift weight from one side to the other is key. This design intentionally lacks that ability and I am aiming to achieve results via another method. With a vertical shaft powering a horizontal aluminum tube, I should be able to attach variable weights at the end of the tube. After discovering the point of balance, I can swing the arm (soon to be stepper motor powered) from one side to next as it takes it's consecutive steps. My backup plan of attack is to supplement this rotating arm behavior with 2 additional actuators at the ankle to provide an additional degree of freedom, enabling the robot to move side to side as well and forward and backward (as mentioned above) .
On to the fun stuff. So far only a few of the actuators are in place; the ankle and the thighs, no hips yet. Hip actuators will help stabilize the mid section and reduce leg flopping during testing, more obviously they will provide the power for each leg - making their lunges forward and backward; completing the walking process. Yet I felt the urge to begin to tackle the looming issue of balance - dynamic balance. Traditionally there are a few core ways to accomplish this. I will tackle them one at a time and implement as needed.
For starters I am going to begin with a rotating cam in the center of the robots "hips." This represents his mid section or torso. Having the ability to lean and shift weight from one side to the other is key. This design intentionally lacks that ability and I am aiming to achieve results via another method. With a vertical shaft powering a horizontal aluminum tube, I should be able to attach variable weights at the end of the tube. After discovering the point of balance, I can swing the arm (soon to be stepper motor powered) from one side to next as it takes it's consecutive steps. My backup plan of attack is to supplement this rotating arm behavior with 2 additional actuators at the ankle to provide an additional degree of freedom, enabling the robot to move side to side as well and forward and backward (as mentioned above) .
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