I want to build a walking robot, but have no experience with servos and
servo control. Can anyone suggest a good site that has projects that allow
hobbyists to build walking robots. I am not sure how things like knee/ankle
joints would work My background is mainly electronics but would like to
explore the field of robotics All I want is to learn the basics then I
On Tue, 17 Aug 2004 13:45:22 +0100, "The Man With The Harmonica
for mechanical inspirations you can look up on google Robo-one. most
of the links will probably be in japanese but there's alot of pictures
and videos floating around. here's a link for some servo controllers
scroll down to the bottom
You might want to look into getting a copy of Gordon McCombs "Robot Builder's
Sourcebook". It's 700+ pages packed full of web links, addresses, etc for
from A-Z in robotics.
Excellent time saver, and it's less than $25.00.
Thanks for the info on the book. I will go to the local book store and see
if they have it this weekend.
Do you happen to know if there is a website that lists various robot
building clubs here in the uk. Surbiton to be abit more exact.
You're welcome. This book has been my #1 resource for locating TONs of
parts & online resources. Certainly worth the minimal investment.
I'm sure you can probably turn up a few thousand more by searching
google.com but that should get you started.
I would strongly suggest that you start with a simple
wheeled robot at first. You can get something up and
running (well, rolling) much more quickly and cheaply.
D. Jay Newman
Check out Karl Williams's 3 books on constructing walkers.
Also, for catalogs of existing walkers, see the following sites:
- dan michaels
As Jay notes elsewhere you should really start with a rolling robot
first. Build something that uses modified servos -- the turn
continuously -- and you can get some experience in controlling servos
with a microcontroller. The control process is the same. Wheeled robots
are a lot cheaper to make mistakes with.
If you're looking for ready-made kits, Lynxmotion has some new 'bots
that are quite advanced for the hobby. Prices to match, but they are
reasonable considering what goes into them. At the very least you can
look at the pictures to see how it's done. Parallax's Toddler is an
interesting variation on a bipedal robot, and it's only about $250 or
so. I'd recommend building from scratch only if you're good in the shop.
Bruce was kind enough to suggest my book but, while it contains a
walking robot project, it is a "linked gait" type and doesn't run on
servos. If you were to build the size of robot specified in the book
using independent joints (separate high-torque closed-feedback DC
servos) it would cost *thousands* of dollars.
Author: Constructing Robot Bases,
Robot Builder's Sourcebook, Robot Builder's Bonanza
That's an excellent good start. A few years ago I sat in on a class about
walking animals presented by RJ Fullerton who runs the Polypedal Lab at UC
Berkeley. His insights into the energy saving mechanisms of the spring
action of tendons were quite interesting. Start with a google search for
polypedal lab. He also suggeted that the insect mechanisms offered robust
locomotion without much brain power. Bipedal walking will require balance,
however, and that will be hard. Leave an option for a cane or a walker to
start. If you are really into human inspired robots I would also suggest an
author by the name of Kapandji who did extensive biomechanical investigation
of all the joints, make sure you get a translated version, that is, if you
are not fluent in French.
The last couple of years, I've spent a fair amount of time trying to
understand the basics of locomotion ....
and I have to say that Robert Full's work at the Polypedal lab is my
faviorite source of research material:
- dan michaels
If you wnat to get into bipedal balancing robots, I've found the book
"Legged Robots That Balance" by Marc Raibert
to be a fun, inspirational and educational read.
This book, by a leading authority on legged locomotion, presents exciting
engineering and science, along with fascinating implications for theories of
human motor control. It lays fundamental groundwork in legged locomotion,
one of the least developed areas of robotics, addressing the possibility of
building useful legged robots that run and balance. The book describes the
study of physical machines that run and balance on just one leg, including
analysis, computer simulation, and laboratory experiments. Contrary to
expectations, it reveals that control of such machines is not particularly
difficult. It describes how the principles of locomotion discovered with one
leg can be extended to systems with several legs and reports preliminary
experiments with a quadruped machine that runs using these principles.
Raibert's work is unique in its emphasis on dynamics and active balance,
aspects of the problem that have played a minor role in most previous work.
His studies focus on the central issues of balance and dynamic control,
while avoiding several problems that have dominated previous research on
legged machines. Marc Raibert is Associate Professor of Computer Science and
Robotics at Carnegie-Mellon University and on the editorial board of The MIT
Press journal, Robotics Research. Legged Robots That Balance is fifteenth in
the Artificial Intelligence Series, edited by Patrick Winston and Michael
Brady. --This text refers to the Hardcover edition.
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