Newsgroups: comp.robotics
Path: brunix!uunet!microsoft!wingnut!petesk
From: petesk@microsoft.com (Pete Skelly)
Subject: Re: Info on 4 legged robots
Message-ID: <1992Jul18.194505.15003@microsoft.com>
Date: 18 Jul 92 19:45:05 GMT
Organization: Microsoft Corporation
References: <92197.124603MDSQC@CUNYVM.BITNET> <1992Jul18.022004.2885@ttinews.tti.com>
Lines: 34

In article <1992Jul18.022004.2885@ttinews.tti.com> hollombe@polymath.tti.com (The Polymath) writes:
>In article <92197.124603MDSQC@CUNYVM.BITNET> MDSQC@CUNYVM.BITNET writes:
>}Good day, my fellow humans, and all the ships at sea,
>}
>}I'm a new user to this network, and a first-time poster, so excuse any
>}bumps, bruises or abraions to any of the etiquette standards (english?).
>
>Welcome.  It's a pleasure to see such politeness in a newcomer for a
>change.
>
>}I'm a high school student working at a college over the summer, and I am
>}(trying to) design a four legged robot. My knowledge in the field is
>}extremely limited, and I fear that I am reinventing the wheel. My primary
>}problem is in keeping my quadraped balanced while I pick up a leg to move
>}it. I was thinking of a weight on a chain, but I'm sure there are other
>}methods available.
>
>This is probably why 6 legged robots are more popular.
>
>How about shifting the center of gravity with a weight on a fore-n-aft
>lead screw?
>
>The Polymath (aka: Jerry Hollombe, M.A., CDP, aka: hollombe@polymath.tti.com)
>Head Robot Wrangler at Citicorp                   Turn the rascals out!
>3100 Ocean Park Blvd.   (310) 450-9111, x2483     No incumbents in '92!
>Santa Monica, CA  90405 {rutgers|pyramid|philabs|psivax}!ttidca!hollombe

Yes, and it also helps to keep the feet relatively big.  This gives you
more to play with as far as stable area.  And if you are brave, you could
try to go a little more dynamic and move the leg before the robot tips.
In this case(well in every case), keep the center of gravity low.

petesk@microsoft.com

