I just started this thread to see what people thought of a Hex that would walk like a cat or dog, with the legs underneath, would it be possible? i think it would be really cool soo see soemthing like a star wars walker with 6 legs that were underneath the chassis of the hex
Yeah, I started a “CAT” thread on the forum a while back.
I propose (again) a quad (or hex) designed like this 'bot:
b.urbani.free.fr/pagecabot/cabot.htm
OK, it’s in French, but I’ve got a rough translation of the contents.
I don’t care too much for the “one-ended” connections to some of the servos, but perhaps the legs could be modeled in SES parts. But I’m not ready to take apart my hexapod Shelob to try it, just yet.
Alan KM6VV
I think it might be cool to have an elongated chassis, with legs like the scout (backward knee design, with the aluminum tube to elongate the leg a bit) directly undereath the body, im a bit confused how it would turn, but i still think it would look cool 
Yeah, to try to make it look more like the AIBOT (maybe 4 DOF/leg, it would walk a bit better I would think.
If you want a couple of things translated I could do it, not too long please 
I don’t know the AIBOT. What’s it look like? I agree that 4DOF legs would be better!
Cabot demonstrates how the servos could be mounted. Simply making longer strides on on side of the 'bot then the other will generate a turn. While not as fancy as the “translating” of the hexapods, it gets one into the animal kingdom of 'bots.
I’ve got the cabot website essentially translated. But thanks for the offer! I just wish I had some spare SES parts (and servos!) to try out a set of quad legs. One could forgo the head and tail for the present.
Alan KM6VV
I think for a true dog/cat walking quadraped, you would need a mechanism to shift it weight (COG shifting). You would need to synchronize this action to allow the quadraped to essentially stand on a pair of legs (for example the front right leg and the rear left leg) and allow the opposite pair move, then shift its weight to allow the pair that just moved to be the legs to stand on.
Would be very interesting to see if anyone can tie this together…
So far, the quadrapeds I’ve seen are mostly ripple-gait type of walk, which isn’t what real quadrapeds do for a “walk” type of action.
Running, now that’s a different story. You have rabbits/dogs/cats style of running, you also got horse type of running.
Quadrapeds are an interesting type of ped form…
That’s a good point. I have seen 'bots with a servo axis aligned with the sagittal plane that allows the body to be shifted left-right. See the paper:
“ARAMIES: A FOUR-LEGGED CLIMBING AND WALKING ROBOT”
I got a copy from the web.
I’d be happy initially with a simple ripple-gait, but would relish the challenge of getting additional gaits to work on a 'quad. Not that I don’t have enough challenges already!
Alan KM6VV
Well, the AIBO is something like this : avland.co.uk/sony/ers7/ers7lrg.jpg
It has 3DOF in each leg and it walks pretty good actualy, I think that desing could have been pushed a bit further to get a better gait. It has cheap servos (looks like it anyway ).
3DOF legs. That’s what I figured. I knew that name sounded familiar. Great pix, good for study.
It looks like the legs can pivot out from the hip. I wonder how it does that!
Have you seen the internals? Might be food for thought!
I think something similar could be made with SES parts. I just compared AIBO with Cabot. I think the leg arrangement is similar. and I recall the builder of Cabot saying that he looked at AIBO and similar 'bots.
Time to get out the ole’ Alibre!
Alan KM6VV