Hello-
I'm working on a 6-legged radio-controlled hydraulic walker and I wanted to see if there were folks who had some experience controlling
hydraulic spools with servos. I chose hydraulics for the potential for
integrating other systems, the look, the engine sound, general vibe.
Pics of the project thus far here:
http://personalpages.tds.net/~ksteuer/machine /
Here's what I want to do. Forward and backward are easy with the spool valve I have, but I'd like to skid steer the monster right & left which requires a second spool & pump. No problem thus far, one servo per spool vavle, for control over right & left sides.
But the way hexapods walk is by "alternating tripods"; there are always three feet on the ground (one on one side, two on the other, then they alternate). The legs on one side are synched via chain (see pic), but maintaining synch side to side would be important.
Now I could just sort of "nudge" the machine back into sync from the R/C controller manually once I'm done turning, but I was wondering if I could control the servos to "resynch" the sides, perhaps using position sensors on one leg per side...
Any ideas or input appreciated- Paul
I'm working on a 6-legged radio-controlled hydraulic walker and I wanted to see if there were folks who had some experience controlling
http://personalpages.tds.net/~ksteuer/machine /
Here's what I want to do. Forward and backward are easy with the spool valve I have, but I'd like to skid steer the monster right & left which requires a second spool & pump. No problem thus far, one servo per spool vavle, for control over right & left sides.
But the way hexapods walk is by "alternating tripods"; there are always three feet on the ground (one on one side, two on the other, then they alternate). The legs on one side are synched via chain (see pic), but maintaining synch side to side would be important.
Now I could just sort of "nudge" the machine back into sync from the R/C controller manually once I'm done turning, but I was wondering if I could control the servos to "resynch" the sides, perhaps using position sensors on one leg per side...
Any ideas or input appreciated- Paul