It might work, but I am not that much concerned with pressure applied to the given surface. And I can’t use motor amp changes to indicate when the “leg” is in contact with a surface because of inertia and movement speed of the “leg” that constantly changes. My pressure applied so to speak of will only be applied for rather short time periods and would almost constantly differ in pressure. Or would it work if I give the code a range from say 0.1kg to 20kg as one function that rules that specific line to secure a touch no matter the pressure. But then it brings the problem of uneven weight distribution and might cause certain slip perimeters that I can’t tolerate. Or is there sum thing that allows me to change the speed of a given object via motor control and cancel out the fact that speed change for the same distance and object means more or less current draw for the motors. The “leg” speed will be controlled form sensors that detects objects from a distance. If no obstacles that is over a certain “size” is detected in advance then the robot will be moving at full speed, if an object is detected that will cause a serious change on the level of the body then the “leg” movement of the robot will have to compensate and slow down to allow it to keep its body level as it over comes the obstacle and then accelerate again. Is there a good sensor that I can use to detect the distance of the “leg” from its contact point, or any way to allow different current draw for the same motors at different times dependent of the speed of the robot and still secure a good grip to allow very little slip. I am afraid that the current drawn from the motor during acceleration matches that of the current drawn when the motor takes the robots mass. And this would clearly be a problem.
What’s the question?
I cant read this block of text. You should really use layout and structure to make your post readable.
Apparently I can’t use
Apparently I can’t use motor amp changes to indicate when the “leg” is in contact with a surface because of inertia and movement speed of the “leg” that constantly changes.
<o:p> </o:p>The pressure applied to the surface so to speak of will only be applied for rather short time periods and would almost constantly differ in pressure. Because of that, would the Peizoelectrics work if I give the code that I want to use to interpret the electrical impulses from the Peizoelectric a range from say 0.1kg to 20kg as one function that rules that specific line to secure a touch no matter the pressure.
<o:p> </o:p>But then it brings the problem of uneven weight distribution and might cause certain slip perimeters that I can’t tolerate. Or is there sum thing that allows me to change the speed of a given object via motor control?
Canceling out the fact that speed change for the same distance and object of the same mass means more or less current draw for the motors.
<o:p> </o:p>(this is my idea) The “leg” speed will be controlled form sensors that detects objects from a distance. If no obstacles that is over a certain “size” is detected in advance then the robot will be moving at full speed, if an object is detected that will cause a serious change on the level of the body then the “leg” movement of the robot will have to compensate and slow down to allow it to keep its body level as it over comes the obstacle and then accelerate again.
<o:p> </o:p>Is there a good sensor that I can use to detect the distance of the “leg” from its contact point, or any way to allow different current draw for the same motors at different times dependent of the speed of the robot and still secure a good grip to allow very little slip?
<o:p> </o:p>I am afraid that the current drawn from the motor during acceleration matches that of the current drawn when the motor takes the robots mass. And this would clearly be a problem.
<o:p> </o:p>Is there any one that can
Is there any one that can help me?
It is still unclear exactly
It is still unclear exactly what you are in need of.
Does the bot need to be able to detect nearby objects in all directions around it or just one?
How are the legs arranged? Why are you so worried about the robot slipping? What is the target environment?
The current surge during acceleration only comes close to the stall current momentarily when the motor starts from a dead stop, or under extreme loading conditions.
pictures
You can measure leg movement using a potentiometer on a joint or other moving part; You can use a pressure sensor on the feet to see of the leg is carrying weight. But these questions are difficult to answer without knowing what those "legs" look like.
Maybe you can post a picture of the leg or a diagram of what you mean by "distance from leg to its contact point"
360 degree detection would
360 degree detection would be nice. The legs are arranged parallel to the body. The body is elongated ( much like a box ). <o:p></o:p><o:p> </o:p>Distance from the leg to its contact point is to me, basically the height from the ground the to foot of the bot. <o:p></o:p><o:p> </o:p>This describes the motion of the legs and what I am looking for. If I use other words to explain this then this explanation might be a few pages long.<o:p></o:p><o:p> </o:p>The joints, mechanically coherent with invariable flexibilities could be subjected to only symmetrical constructions. The material property fixes the mechanical range of motion to simple coherent symmetrical angular alteration, e.g. as a segment of a body with anisotropic symmetrical motion that dependents on the previous and next coherent motion as a single system in coherence forming one symmetrical motion.<o:p></o:p><o:p> </o:p>What they look like is something like this, but I will make my own drawings and post it here soon. <o:p></o:p><o:p> </o:p>Consists of 2 joints. 1st is the joint connected to the body, it only has to move vertically, total angle change from 90degree to the body is about 20degrees both + and -.it would be about 10cm long. The 2nd joint controls the horizontal shift of the foot. Would also be in the range of 10cm long and pitched at 30degrees depression from the 1st part of the leg.<o:p></o:p> <o:p></o:p>I need a sensor that can tell me when the leg is in contact with the ground and it has to be connected the Arduino mega. <o:p></o:p> <o:p></o:p>
Sensor types
If you need a contact sensor, use a leaf-spring switch. Peizoelectrics work as well, and are more specific then the on/off of a switch. They are analog, and can tell the weightload on the sensor instead of the simple 1 or 0 a switch gives us.
However, in your various posts, you have hinted that you don’t want these. Distance sensors only work in certain environments:IRs don’t really work outside, while US sensors fail in environments with soft or curvy objects. Where will your walking robot be operating?
Also, none really have MM resolution
Actually I gave the
Actually I gave the Peizoelectrics a good thought and if a use a foot base that is made of 2 parts sliding in each other it would work just fine. Then the Peizoelectrics aren’t exposed to any elements. So at the moment it is actually my only way out.
<o:p> </o:p>My bot would mostly be operating on mountainous terrain and in crop fields. So rugged terrain is my main enemy, so I need a ridiculously agile and precise bot for it to function properly.
<o:p> </o:p>Could some one please give my a few links that explains the Arduino mega fully as well as Peizoelectrics?
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