Society of Robots - Robot Forum
Mechanics and Construction => Mechanics and Construction => Topic started by: diablocyrus on July 05, 2009, 12:24:17 PM
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i have built a spider bot
now i want to try a revolutionary idea so help me out
i would like to get a leg design of the quadruped robot that is posted in the video
it is an awesome robot
[youtube]http://www.youtube.com/watch?v=MFgePgQ73Ws[/youtube]
i dont know how to design the legs
please help me out
i intend to make a transformer as i like that movie
i will just share my idea
it will be a hexapod
but its middle leg on both sides will be longer
it can walk like a quadrapod and hexapod and also drive as a car
but if it walks like a qudrapod the longer legs will be used as arms
then the hardest part
it can also walk as biped robot
this is where the longer legs comes to application
these legs have more base width for balance
the front legs will become hands
the hind legs will become either balancing since it can also reach the ground when in biped mode
or as another pair of hands -like goro of mortal kombat
according to my calculations and assumptions
there is a need for 4 degrees of freedom per leg 3 for movement of joints and 1 for the wheels
i intend to use stepper motors bcos it moves at same speed at all battery levels and since it is a biped robot it needs to have special flexibilities right
i also planned on adding an optical mouse sensor to calculate the distance an other stuffs
but now only the transforming function is much important along with walking and wheel drive
it would have 24 motors i think
i would like to do this on a pic 18f series with usb 2.0 support
plus i would like to know more about how they did the balancing
is it with a pressure sensor
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If by "balancing" you mean retaining its horizontality or parallelness with the ground this was most likely done with an accelerometer.
Heres something to think about: each leg has a wheel on it right? Therefore if you want your robot to ALSO be a biped, you run into a big problem. If your robot attempts to walk on two legs, its feet will be wheels...hmmm...if you have ever looked at other Bipeds, you will notice that the feet are ussually very large compared to the rest of the body. The reason for this is to provide a large base, so the robot will not fall over. If you have wheels as the feet to your robot, to put it simply: your robot will never walk.
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If by "balancing" you mean retaining its horizontality or parallelness with the ground this was most likely done with an accelerometer.
Heres something to think about: each leg has a wheel on it right? Therefore if you want your robot to ALSO be a biped, you run into a big problem. If your robot attempts to walk on two legs, its feet will be wheels...hmmm...if you have ever looked at other Bipeds, you will notice that the feet are ussually very large compared to the rest of the body. The reason for this is to provide a large base, so the robot will not fall over. If you have wheels as the feet to your robot, to put it simply: your robot will never walk.
well not all the legs have wheels
the middle leg on both sides have longer length and more base
i have written
it can also walk as biped robot
this is where the longer legs comes to application
these legs have more base width for balance-
and these longer legs doesnt have wheels on them
when it moves as a car these legs will be working as a robotic arm
that is the 4th motor in these legs will be used for operating the grips instead of wheels
i havent quite decided about that
but in car mode the legs will be turned to upside
bcos it dont have wheels
4 wheels is enough bcos otherwise more friction hard to control and more motors
and an accelerometer how ?
could u explain it to me
and was i clear enough my friend
if u spotted any more problems in my idea point it out
:)
but i say that it can walk
:)
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Oh ok, that now sounds like a somewhat feasible idea. For a more in depth explanation and for one that would be better than mine, read this: http://www.dimensionengineering.com/accelerometers.htm (http://www.dimensionengineering.com/accelerometers.htm)
Now that you have mentioned that the middle legs will have grippers, possible you could just open them completely and use those as the feet (which was probably exactly what you had in mind).
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wow
not really
and thats an awesome idea
ur really good
but could u help me with the design of legs
i only have ideas with me
i would share them
and about accelerometer
so for each leg u need to have that or one for all legs
:)
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http://www.sarantel.com/products/index.php (http://www.sarantel.com/products/index.php)
just a doubt
will this antenna work standalone or it just an antenna to be conneced to a gps module