So having needing to use the restroom in the middle of the night like the rest of us i went to the bathroom and I saw this huge spider on my floor… Since I own a phoenix now and have been pretty interested in it lately I decided to get up to the little creepy crawly and look at it closer…The thing just didn’t want to walk fast it must have been drunk or something
Anyway the thing that really caught my eye was the hind legs were roughly 1/3rd to 2/3rds longer then the other 6 legs and when it moved the legs were moving roughly 1/2 as fast when it walked… I tried looking for the spider but I have no idea what kind it is http://www.bumblebee.org/invertebrates/images/Thomisidae.jpg In this photo the front legs are noticeably longer then the rear so opposite of this…
Anyway It was an idea if someone was to be a creative person and attempt to retrofit 2 longer femur and tibia’s on there phoenix in the rear of it… Not really sure how it would work with xan/zenta’s gait but I would imagine some code would have to be modified for the 2 legs…
I was kinda wondering what this might have to do with speed of of it running? probably would be a good idea to have 6 645 servo’s on the joints in the back too…
Any who thought I would try and spark someones interest.
I guess I thought it was interesting… I really haven’t noticed it in nature but a spider with different length legs… I mean if it worked for them we should apply it to robotics and see what the
Xan-Zenta combo can do with it … I’m pretty sure they are part of the Borg collective and their brains are linked… anyway moving on…
It would be very slick to see the hind legs of the phoenix have some longer femur and tibia’s and somehow a modified gait with a longer delay on those 2 legs going at 1/2 or 1/3rd speed of the remaining other 4 legs…
I see, I think you might have misunderstood my original question or maybe what I typed was hard to interpret… my mistake.
That was an example of a spider with legs longer then the others, the one I saw however had significantly longer rear legs then the front 6 so if you were to take the pictures we both posted and put the head where the ass is and put the ass where the head was… pretty much like that
Yeah… that’s not a bad idea either as for how xan/zenta’s phoenix code work I really don’t think it would take much to make it work with the code they have written I think the IK would simply have to use different variables for the 2 different legs with different length femur and tibia’s … I’m still trying to wrap my head around some of the code although it is written in a way that makes it easy for people like me to understand what’s happening.
as for the manufacturing department if lynxmotion were to offer such replacement part’s I think it would be pretty cheap for 4 aluminum bit’s…
anywho! interesting concepts to see how well they work that’s a bit beyond me
I thought jump in on this. I’ve discussed this already with Zenta and Jim. It’s really easy to make legs with different lengths. The current code uses the same constants for all legs. It’s possible to add one for each leg. Or a set for each different leg. The IK will take care of the rest.
As for the Gait. The gait works directly but all legs travel the same distance on 1 full gait sequence. The coolest part would be to let the small legs make twice as much steps as the large front legs.
I think it would take me about 1 to 2 evenings programming to get it to work.
Also the body shape is fully adaptable in the code. I’ve once told Jim that if he could make a banana with 6 legs. The code would get it to walk
Hey xan why don’t you make some plastic bits and see how it turns out if Jim actually makes aluminum ones I think you guys if anyone would be able to figure out the gait and see if it actually has any physical walking benefits or any other benefits…
Come to think of it the individual leg control would be pretty slick on the longer legs…
Which reminds me… Zenta has shared with me 2 programs of his both for his T7C and one of them was for an unmodified T7C and I want to rip out the individual leg control part out of the modified remote and put it into the un modified remote code for tentacle RC action! and then add some other tidbits to make it unique… anyone care to peep the code?
oh does anyone know how a input pin on the bb2 would fail to read or output any high or low signals?
How about variable geometry bodies? I suggested a different layout of legs (8) before. What if the angles of the legs could be changed while in motion as well? Anyone for a swept-leg spider?
As Xan mentioned, using different length of legs has been discussed before. I also think Alan has mentioned before too.
Anyway, especially for an octopod this would be very useful for making a “spider copy”. And also relative easy to solve.
Are you thinking of varying the body geometry while walking? I’m with you about the layout you suggested before, should be fun to make another spider looking octopod one time…
What angle relative to what are you refering to?
Pardon my english but what do you mean by a
You’ve been making some great progress in your walking 'bots!
I’m practically stalled in my efforts on a Micromouse for interaction in a local robotics club.
Yes, the body geometry. I don’t yet know if there is any real benefit to be gained by varying it while walking. Maybe a spider could move faster in one configuration, climb better in another, perhaps lift weight better in yet another configuration. Think of a crane that extends extra support legs while lifting a load. Or a heavy truck/trailer that folds up a pair of wheels when unloaded to lessen the rolling resistance perhaps?
No pardon necessary! your English is superb! I borrowed an expression from modern aircraft design, in which the wings have a variable angle of attack. The wings can be “swept back” to offer less wind resistance for high speed flight.
It may be that we’d want to do the same with the addition of more legs. I’ve been toying with the idea of having the front leg pair also serve as arms. Maybe I’d also want to vary the body geometry to better support the new “arms”.
Depending on the speed and load carrying needs of the robot, it may make sense to employ more or less legs, at perhaps different angular distributions for different circumstances.
i feel i should jump in here…
i created a robot called “Ant-artic” a robot ant with articulated body)! ill share this with you as it my help… just another of my ideas…
Everything from robotic Snakes, Spiders, lizards and even house hold flies, are being transformed into rescue robots.
One of the main problems faced by robotics is being able to walk up a flight of stairs and getting into tight spaces.
The Ant-artic is powered by 18 servos but also has 4 other servos in the chassis to articulate the body for climbing over objects and overall motion. These 22 servos all work together to make it all work http://i531.photobucket.com/albums/dd355/innerbreed/ANT-ARTICSchematic2.jpg http://i531.photobucket.com/albums/dd355/innerbreed/ANT-ARTICSchematic3.jpg
***Ants can carry 10 times their own body weight, the Ant-artic wont be as powerful as that but as the structure is made from strong, light weight aluminium brackets and rods it should withstand a bit of weight. The main chassis is designed so that it still has the rounded shape ***
To help the robot climb, the front legs are smaller than the middle and back legs. This will be an advantage because the back legs will be heavier so when the vertical chassis lift up the front, the robot wont tip over. This leg design is a continuation on the original design, with its extended limb between the knee and foot.-----------------------------------------------------------
feedback?
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