Newsgroups: comp.robotics
Path: brunix!uunet!decwrl!netcomsv!mork!nagle
From: nagle@netcom.com (John Nagle)
Subject: Re: controller for a biped vehicule
Message-ID: <p0pl+qr.nagle@netcom.com>
Date: Mon, 22 Jun 92 20:56:41 GMT
Organization: Netcom - Online Communication Services  (408 241-9760 guest) 
Distribution: usa
References: <1992Jun22.175550.3190@colorado.edu>
Lines: 17

alib@bohemia.cs.colorado.edu (Ali Bouaricha) writes:
>I am going to build a biped robot that walks.  I would like
>a controller that reads the joint angle and velocity (analog)
>of the limbs and computes the control torques (digital) and
>applies them to joint motors (analog).  Could anyone out there
>suggests an appropriate controller which is relatively cheap
>and stand-alone ? 

        You can either build something with big feet that's very
stable and use a dumb algorithm to work the feet, or get into serious
balance control.  There are wind-up toys that do the former.  The latter
is very hard, but it has been done.  See "Legged Robots that Balance", by 
Marc Raibert.

        This is probably not a good first project.

					John Nagle
