Big Dog Robotic Dog/Mule
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Big Dog Robotic Dog/Mule Gordon McComb 03-22-2008
Posted by dan michaels on March 25, 2008, 11:03 am
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wrote:
> John Nagle wrote:
>
> > =A0 =A0 Finally, someone is doing this right.
>
> And in any case, as a "gait" it's not based on the anatomy of any animal
> on earth. The legs are in an unusual pushme/pullyou configuration.
>


Big Dog looks a little strange, but in fact, the legs on quadrupeds
are
arranged in front-back mirror-symmetry fashion.

http://www.ai.mit.edu/projects/leglab/robots/3D_hopper/3D_hopper.html

Also, Boston Dynamics has had videos of BD on its site for a couple
of
years or so.

http://www.bostondynamics.com/content/sec.php?section=3DBigDog

Even back then, they were experimenting with slightly different leg
arrangements with different #leg segments, as you can see in the
original video, betwen the general walking scenes and the
jumping scenes at the end.



>
> It's also interesting that the legs never stop moving, even with the
> robot is keeping place.
>
> -- Gordon


Posted by dan michaels on March 25, 2008, 11:08 am
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> wrote:
>
> > John Nagle wrote:
>
> > > =A0 =A0 Finally, someone is doing this right.
>
> > And in any case, as a "gait" it's not based on the anatomy of any animal=

> > on earth. The legs are in an unusual pushme/pullyou configuration.
>
> Big Dog looks a little strange, but in fact, the legs on quadrupeds
> are
> arranged in front-back mirror-symmetry fashion.
>
> http://www.ai.mit.edu/projects/leglab/robots/3D_hopper/3D_hopper.html
>

Sorry, wrong link.

http://www.oricomtech.com/projects/leg-anat.htm


>
> Also, Boston Dynamics has had videos of BD on its site for a couple
> of
> years or so.
>
> http://www.bostondynamics.com/content/sec.php?section=3DBigDog
>
> Even back then, they were experimenting with slightly different leg
> arrangements with different #leg segments, as you can see in the
> original video, betwen the general walking scenes and the
> jumping scenes at the end.
>
>
>
>
>
> > It's also interesting that the legs never stop moving, even with the
> > robot is keeping place.
>
> > -- Gordon- Hide quoted text -
>
> - Show quoted text -


Posted by Gordon McComb on March 25, 2008, 12:04 pm
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dan michaels wrote:
> Sorry, wrong link.
>
> http://www.oricomtech.com/projects/leg-anat.htm

Erp, I guess it was the symmetry of the legs that threw me. Elbows and
knee-caps face one another.

-- Gordon

Posted by dan michaels on March 25, 2008, 3:54 pm
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wrote:
> dan michaels wrote:
> > Sorry, wrong link.
>
> >http://www.oricomtech.com/projects/leg-anat.htm
>
> Erp, I guess it was the symmetry of the legs that threw me. Elbows and
> knee-caps face one another.
>
> -- Gordon
>


Humans are built the same way. It's probably been a while since
you were 2-YO, but try getting down on all fours and crawling on
the floor. Knees hit elbows. You're doing the "Big Dog".

Later on, you can graduate to the "Time Warp". LOL.

http://blogs.chron.com/beltwayconfidential/timewarp.jpg
http://en.wikipedia.org/wiki/Time_Warp


Posted by John Nagle on March 26, 2008, 1:57 am
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dan michaels wrote:
>> wrote:

>>> And in any case, as a "gait" it's not based on the anatomy of any animal
>>> on earth. The legs are in an unusual pushme/pullyou configuration.
>> Big Dog looks a little strange, but in fact, the legs on quadrupeds
>> are arranged in front-back mirror-symmetry fashion.

Big Dog is unusually symmetrical, but that's probably
a manufacturing economy. All four legs appear to use
exactly the same parts. That's just good design. It's
nicely worked out; the hydraulic cylinders and hoses are
all inside the leg structures.

Foster-Miller, which makes the TALON and SWORDS military
robots, apparently did the mechanical work.

                                John Nagle


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