Appendix 0

index ]

update history

14 July 2011
Added Vanir note to Freya

4 July 2011
Added border=1 (=2 for colour images) for FireFox & Chrome

24 January 2011
Appendix4 - added, Loki software.

21 December 2010
Appendix4 - changed to Appendix0
Loki software link added.

17 October 2010
Appendix4 - BigFoot code updated to BigFt-2S.BAS

27 September 2010
TecFoot Operation - dynamic balance mode
The amount of energy injected into the system on each step is altered so that stable oscillation is maintained.

26 January 2010
TecFoot Operation - dynamic balance mode
added - Active Dynamic Biped Walking using Limit Cycle Control.

1 March 2008
TecFoot Operation - dynamic balance mode
walking was now three times faster (7.2m/s / 2.4m/s)(7.2m/min / 2.4m/min).

24 February 2008
This was never really the case except initially as the program was being written.
Although TecFoot was now more stable it was however not possible to avoid a sudden build up of wild oscillations where TecFoot would lurch out its basin of stability and fall over. Providing a human was on hand to tell TecFoot to stand still when oscillations started to build up operation was fine but due to the flexing of the frame, which stored and released energy making TecFoot walk well, data from the underfoot sensors alone was insufficient to detect the onset of wild oscillations.

TecFoot should have then been fitted with joint angle sensors but other commitments took priority.

4 January 2008
"Locki uses standard size Supertec S03 servos at the hips"
corrected to:
"Loki uses standard size Supertec S03 servos at the hips"

12 November 2007
Mass of Mom & Pop added

27 October 2007
Photos hyperlinked to larger colour photos, 'Loki kicking high' photo added. Colour photos of BigFoot, TecFoot and Ambler added.

18 September 2006
Some hitec and obselete SuperTec servos added to Appendix 4

12 September 2006
Appendix 3 Servo specifications, text size increased from -2 to standard

31-5-04
BigFoot History para 3
"However, this walker still suffered from a lack of control and so it was decided to make a still simpler model using the same mechanical arrangement but using only two model control type servos (see Appendix-1) in order to investigate the minimum requirements for true weight shifting biped walking and so Bigfoot was born."
changed to:-
"However, this walker still suffered from a lack of control and so in order to investigate the minimum requirements for true weight shifting biped walking it was decided to make a still simpler model using the same mechanical arrangement but using only two model control type servos (see Appendix-1). So Bigfoot was born."

Loki operation.... "The addition of roll bars on the head so Loki would automatically roll from being upside down would have prevented that exception."
changed to:-
"The addition of roll bars on the head so Loki would automatically roll from being upside down to lying on its front or back would have prevented that exception."

1-6-03

tecfoot-table
-------------
normal walking stride (static balance)     100

TecFoot Operation - dynamic balance mode - para 3
to the other. Not only was TecFoot much more stable but walking was now three times faster (7.2m/s 2.4m/s).