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For those who are interested, I have just added a new hexapod to the site: B.F.Hexapod (V5) which I have been using for terrain adaptation tests. You can view details of the hexapod here:
There are several videos of various gait tests here:
__a href="http://www.youtube.com/watch?v=ZhB4nFN_mRI" __Terrain Test 4
Matt.
let's go and see.
Hi, Matt
Just a couple of questions:
The large surface (from the pics) seems flat and may not provide sufficient grip on the rough such as gravels. I am thinking like a micro-switch or FSR like lynxmotion would do the trick.
Is there any particular reason for using such a large foot area on each leg?
Cheers
Hi Zack,
Not too sure what you mean, but the foot is designed to adapt to different terrain shapes, and also stops the foot from sinking in to soft terrain. The sensor on this foot is a micro-switch attached to the gimbal. The foot base plate is mounted on a pivot fixed to the gimbal.
Matt.
Hi Zack,
Not too sure what you mean, but the foot is designed to adapt to different terrain shapes, and also stops the foot from sinking in to soft terrain. The sensor on this foot is a micro-switch attached to the gimbal. The foot base plate is mounted on a pivot fixed to the gimbal.
Matt.
--- mdenton
Ops.. my bad.
What I meant was why are the contact area for each foot so big? If it is for distributing the robot's weight over a larger surface, then it is understandable. But is it really that much heavier?
What I foresee is the robot wouldn't be able to get a proper foot hold on gravels rocky surface..
Hi Zack,
Well the foot contact area could be smaller, but this particular design using the gimbal and a passive adaptive foor works very well. It makes detecting ground contact easier, along with allowing the IK of the leg to work better. I designed a contact sensor that uses an FSR and a rubber ball at the tip of the foot, this arrangment works well if the foot is close to 90 degrees with the contact surface, but not at all at 45 degrees.
Matt.