[oopic] Re: Hexapod gates

--- In oopic@yahoogroups.com, "m.lisowski" <m.lisowski@...> wrote:
>
> Hi,
> I am trying to implement various gates for Lynxmotion's EH2 hexapod
(2
> DOF legs). I have found informations about tripod, wave and ripple
> gates. Are there any others common gates for hexapod robots? What
> about turning? Are there any standard ways to implement turning into
> hexapods?
>

With hexapods, the 3 gaits you mentioned cover a wide range of usage.
In fact, all 3 are really the same gait, but with the timing
advanced, going from wave to ripple to tripod. See Cynthia's
figure ...

http://www.oricomtech.com/projects/leg-time.htm#Hex2
http://www.oricomtech.com/projects/legs.htm

The easiest way to implement turning is to run the legs on one side
backwards with respect to those on the other side. Alternately, you
can just slow the ones on one side down a bit.

- dan michaels
www.oricomtech.com
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