Walker by Christopher Jones

The walker was one of my an early experiments in understanding simple quasistatic "walking"
mechanics. Walker was deliberately made simple to prove that it was possible to produce an
underactuated bipedal machine that could walk(ish) forward and turn on flat surfaces at very low
The system featured a parallel link to a PC running control software, whiskers to detect collision
and a salt-water tilt switch to determine if the robot had fallen over or not.
The chasis is made of a remote control bulldozer and the drive wheels are basically configured as
eccentic cams which drive rotary to linear joints. The feet of the walker are large and will balance
the body regardless of the angle at which it leans. collision detection and avoidance is implemented
in the same way as it would be for a tank or other differentially steered vehicle.
in summary
Time to make:  3 days
Cost        :  less than 30.00
Language    :  C++ 
Email: c6jones720@hotmail.com

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