ok so im working on building a 3-legged mech such as the droidekas from starwars they have always been my favorite droid and see im having a problem figuring how to get it to move with out toppling over or flopping on its “belly” i’ve yet to get the entire thing assembled but through 3D imaging software and running simulations through my head and software i keep coming to the same result either:
“hind leg gets trapped under mech and flips whole thing”
“flops on either side”
“twitches and skits its way along floor like a back massager someone dropped”
im not new to robotics at all been building since i was only 9 or so (tenechs legos erector sets taking apart RC cars up to currently building quads bipeds and hexis as well as being in my 4th year in FIRST team 1095) and i wanted to know if anyone has tried this before and if so wouldnt mind giving me a few pointers on how to make a tripod move “gracefully” if not “fluid-like”
much much thanks in advance
PS-each leg is planed to have 3DOF
Hi, well apart from the obvious that you have pointed 'out about tripods being unstable, it is however possible to get one walking…
youtube.com/watch?v=4FABBKPoNO4
And here is a photo of the main body components.
Hope that helps.
i get that it IS possible im just saying im unable to come up with what the exact program/sequence would be to make it move fluidly as the one in the video did
Yes…
I was hopefully answering this?
Maybe you could try and copy the actions into a sequencer program to try and get the same result?
jw but you have any ideas on how i could make the legs spring loaded or something so i can get a “diving motion” so i could get it to roll forward as a real droideka does?
Getting it to roll will be far less challenging then getting it to actually walk.
Do you actually have anything built to test with?
I think the easiest way to get it to roll would be to use kinetic energy, buy tucking in the direction facing leg. To keep its momentum you could simply program the forward leg to kick. Or even the other two,
But control would be tough.
…
Just remember the things you see in movies do not have to obey the laws of physics.
i know this-.- im 17 not 4 . . . . .but building something similar to a droideka is possible and can be done im not building an exact droideka darts eyes around looking for G.L. obviously i cant make portable force feild generators lol
Consider making the feet larger, to the point where you can have it statically balance on two feet, and then move the third foot to the new location (might “fall” into place). It would end up walking in a zig-zag pattern.
Start with a biped with a prehensile tail and work from there.
thats about what ive come to