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Walker robots
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WALKERS ARE A CLASS OF ROBOTS THAT IMITATE THE locomotion of animals and insects. Essentially, walker robots use legs for locomotion. Locomotion by legs is hundreds of millions of years old. In contrast to this, wheels are relatively a new science, being only 7000 to 10,000 years old. Wheels are good, but they require a relatively smooth surface to ride upon. Just look at an aerial photograph of any city or suburb to see the highways and streets crisscrossing the landscape.
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Walker robots have the potential to transverse rough terrain that is impassable by standard wheeled vehicles. It is with this in mind that robotists are developing walker robots.
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Sophisticated walkers imitate insects, crabs, and sometimes humans. Bipedal walkers are rare, requiring a good deal of engineering science. I plan to have a bipedal walker robot project in my next book on robotics, tentatively titled Pic-Robotics. In this chapter we will build a six-legged walker robot.
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Using a six-legged model we can demonstrate the famous tripod gait used by the majority of legged creatures. In the following drawings a dark circle means the foot is firmly planted on the ground and supporting the weight of the creature. A light circle means the foot is up and movable.
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Walker robots
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11.1 Tripod gait, at rest
11.2 Tripod gait, first move forward
Figure 11.1 shows our creature at rest. All feet are on the ground. From the resting position our creature decides to move forward. To step forward, it lifts three of its legs (see Fig. 11.2, white circles), leaving its weight on the remaining three legs (dark circles). Notice that the legs supporting the weight (dark circles) are in the shape of a tripod. This is a stable weight-supporting position. Our creature is unlikely to fall over. The three lifted legs (white circles) are free to move, and they move forward. Figure 11.3 illustrates where the three lifted legs move. At this point, the creature s weight shifts from the stationary legs to the movable legs (see Fig. 11.4). Notice that the creature s weight is still supported by a tripod position of legs. Now the other set of legs move forward and the cycle repeats. This is called a tripod gait, because the creature s weight is always supported by a tripod positioning of legs.
Creating a walker robot
There are a lot of little wind-up toy walkers around. These toy walkers move their legs up and down, back and forth, using a rotary cam mechanism. While these walkers work, and some are surprisingly fast, our task is to build a walker that does not use a rotary cam to imitate walking.
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11.3 Tripod gait, second move, shifting weight
11.4 Tripod gait, third move
We will build a walker robot that imitates a tripod gait. The walker outlined in this chapter requires a minimum of three servo motors. There are numerous hexapod and quadrapod walker designs that require greater freedom of movement per leg. Greater freedom of movement per leg means more independent drivers per leg. If one is using servo motor drivers, this can be achieved using two, three, or four servo motors per leg. The need for so many servo motors (drivers) is because each leg on the walker needs to have a minimum of two axes (degrees) of freedom. One to move up or down and the second to move (swing) forward and back.
Three-servo walker
The walker robot we will make is a compromise in design and construction, but requires only three servo motors. Even so, using just three servo motors, it is a true tripod gait walker. Our walker uses three lightweight HS300 servo motors [42-ounce (oz) torque] and a 16F84-04 microcontroller.
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Walker robots
11.5 Hexapod walker ready to run
Function
Before we get into the construction of this robot, let s first look at the finished robot shown in Fig. 11.5 and analyze how this robot walks. The tripod gait I am using for this robot isn t the only gait available. At the front of the robot we have two servo motors. Each servo motor controls the two legs on its side, the front leg and the back leg. The front leg is attached directly to the rotor of the servo motor. It is capable of swinging forward and backward. The back leg connects to the front leg through a linkage. The linkage makes the back leg follow the action of the front leg as it moves forward and back. The two center legs are controlled by a third servo motor. This servo motor rotates the center legs 20 to 30 degrees in a clockwise (CW) or counterclockwise (CCW) rotation that tilts the robot to the left or right. With this information under our belt we can now look to see how our robot will walk. Look at Fig. 11.6. We start in the rest position. Each circle represents a leg. As before, the dark circles show the weight-bearing legs. Notice in the rest position, the center legs do not support any weight. These legs are 1/8" shorter than the front and back legs.
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